(P. - J. - Higgins) - An Introduction To Topological Groups
(P. - J. - Higgins) - An Introduction To Topological Groups
Introduction to
Topological Groups
P.J.HIGGINS
Published in the United States of America by Cambridge University Press, New York
Page
Preface v
CHAPTER I Preliminaries
1. Historical notes 1
2. Categories 2
3. Groups 8
4. Topological spaces 9
iii
CHAPTER IV Examples and applications
1. Extensions of Haar integrals 83
2. Examples of Haar integrals 84
3. Representations of compact groups 92
4. Topics for further reading
102
References
103
Index
104
Index to numbered results
108
IV
Preface
1. Historical notes
Abstract topological groups were first defined by Schreier in 1926,
though the idea was implicit in much earlier work on continuous groups of
transformations. The subject has its origins in Klein's programme (1872)
to study geometries through the transformation groups associated with
them, and in LieTs theory of continuous groups arising from the solution
of differential equations. The 'classical groups' of geometry (general
linear groups, unitary groups, symplectic groups, etc.) are in fact Lie
groups, that is, they are analytic manifolds and their group operations
are analytic functions. On the other hand, Killing and Cartan showed
(1890) that all simple Lie groups are classical groups, apart from a finite
number of exceptional groups.
In 1900 Hilbert posed the problem (No. 5 of his famous list) whether
every continuous group of transformations of a finite-dimensional real or
complex space is a Lie group. The twentieth-century habit of axiomatising
everything led to a more abstract formulation of this problem. A topologi-
cal group is a topological space which is a group with continuous group
operations, and the question is: What topological conditions on a topologi-
cal group will ensure that it has an analytic structure which makes it a
Lie group? Since integration was a major tool in the study of Lie groups,
especially their representations, it became important to establish the
existence of appropriate integrals on general classes of topological groups.
This was achieved by Haar in 1933 for locally compact groups with coun-
table open bases. Von Neumann (1934) gave another proof for arbitrary
compact groups, making the representation theory of compact Lie groups
immediately available for all compact groups and so solving Hilbert's
problem in this special case. Haar's method of integration was extended
to all locally compact groups by Weil (1940). However, there are serious
obstacles to extending the representation theory to locally compact groups,
and it was not until 1952 that Hilbert's problem was settled by Gleason,
Montgomery and Zippin. Their answer can be formulated as follows:
a topological group is a Lie group if and only if it is locally Euclidean;
alternatively, it is a Lie group if and only if it is locally compact and
does not have arbitrarily small subgroups, that is, the identity element
has a compact neighbourhood containing no non-trivial subgroups.
Although the theory of topological groups was developed mainly
in order to study groups of Lie type and its impetus came from problems
in analysis, it soon proved to be useful also in purely algebraic contexts.
Certain algebraic constructions lead to groups having natural topological
structures which are somewhat pathological from an analyst's point of
view. Examples are power-series rings, Galois groups of infinite field
extensions, and p-adic groups. The pathology lies in the existence of
arbitrarily small subgroups, but in most important cases the groups are
actually locally compact and integration is therefore possible on them.
The algebraist must be familiar with these facts and this course is de-
signed to make them available to him. It will, I hope, also serve as an
introduction to topological groups and the Haar integral for students of
other branches of mathematics. However, the general flavour of the
development is more algebraic than is usual in such an introduction, and
the use of analytical arguments has been kept to a minimum. The only
pre-requisites for the first three chapters are a few facts from elementary
group theory. Chapter IV is less rigorous and demands more of the
reader.
2. Categories
Definition. A category 6 is a structure comprising the following
data:
(i) a class whose members A, B, C, . . . are called the objects
of 6;
(ii) for each pair of objects A, B, a set @(A, B), called the set
of morphisms from A to_ B (in G); we write f : A -• B to mean that
f €<3(A, B);
(iii) for each triple of objects A, B, C, a law of composition
eA
A = tA : a *-*a, for a in A.
A '
(Note: in any category in which the morphisms are certain maps between
sets, and composition is the ordinary one of maps, associativity follows
immediately.)
(ii) The category 8 of groups. Its objects are groups, and the
morphisms A -* B are group homomorphisms. Composition and identi-
ties are as in S. (The point is that if f, g are group homomorphisms,
so is fg; and t. is always a group homomorphism.)
Pictorially:
+- T
3 ! f* such that the diagram
commutes.
A/p — — - - M
I = Af c B, with inclusion j : I -• B. Then (by the universal properties
for quotients and subsets), 3 ! f* : A / p - ^ I such that qf*j = f. Further,
f* is an isomorphism in S.
n A = {{a } ; V i e I, a 6 A }.
iel x x 1€1
* l
77., 77.-W^O?iS .
But clearly, 77., 77.w*-i and it follows from the uniqueness clause that
1 1 x\
a/3 = «... Similarly /3o? = 1 Thus A ^ AT and s i n c e airl = 77. and
A Pi. fQ 1 1
3. Groups
We state some familiar facts about groups in categorical language.
Subgroups. Let G be a group. Let H be a subset of G with a
group structure defined on it; then H is a subgroup of G if and only if
the inclusion map j : H -* G is a morphism of groups. There is at most
one group structure on a given subset H for which this is the case. Sub-
group inclusion j : H -* G has a universal property, as for sets: if
f : L -• G is a morphism in 9 such that Lf c H, then 3! f* : L -• H in
S such that f*j = f.
Quotient groups. For a morphism f : G ~* H of groups it is usual
to define the kernel of f as the normal subgroup {x e G; xf = e } of G,
where e = e^ denotes the identity element of H. This is in conflict with
-i
our earlier definition in S, namely, Ker f = ff , but the two are closely
related, each determining the other. (If we write K = lx eG; xf = e },
then K is the equivalence class of ff"1 containing e^. On the other
hand, ff"" is just the equivalence relation on G whose classes are all
the cosets of K.) There is no danger in using the same name, Ker f, for
both concepts - the context will always make it clear which is intended.
For any normal subgroup N or F, the cosets of N are the equivalence
classes of the equivalence relation p defined by apb <=» ab e N. It
is usual to write G/N for the quotient set G/p in this case. If
q : G -* G/N is the corresponding quotient map, then there is a unique
group structure on G/N such that q is a morphism of groups. We shall
always give G/N this structure. The quotient map q : G -* G/N in g
has a universal property, as for sets: if f : G -• H is a morphism in 8
such that N C K e r f (i.e., Nf = {e}), then a! f* : G/N -* H in g such
that qf* = f.
10
the same set X, is a continuous bijection but not a ct-isomorphism.
Thus some care is required in this last exercise.
We will shortly prove a modified form of the first isomorphism
theorem. (See Proposition 1 (2") below.)
X/p
11
where T has the subspace topology, such that the following diagram
commutes: 17 t _v
12
Examples, (i) In a metric space, all open balls; (ii) in R ,
all open rectangles; (iii) in R , all open discs with rational centres, and
radii of the form 1/n, n e Z.
Note: If X, Y are spaces and {B.} is a basis for the open sets
of X, a map f : Y -* X is continuous if and only if every B.f is open
in Y.
We can also define a basis for the closed sets of X to be a family
{D. } of closed subsets such that any closed set can be written as n D.
1
iej *
for some J Q I. (Here, if J = 0, we define the intersection to be the
whole space X.)
If {B. }. T is a family of subsets of X, there is a topology on X
with the B. as open basis if and only if the following TBasis Conditions1
are satisfied:
Bl u B. = X ;
iel x
B2 V i, j € I, 3 K c i such that B. n B. = u R ,
1 J
keK K
and then the topology has precisely all sets of the form u B., for JCi?
iej l
as open sets.
Let {C } * be an arbitrary family of subsets of X. Consider
all sets of the form
i. e., all finite intersections of the sets C , where we interpret the empty
intersection to be X. Then clearly these sets satisfy Bl and B2 above,
and so form a basis for a topology "U on X. We say that the sets C
form a sub-basis for U It is clear that °U is the weakest topology on
C
X such that all the C are open. If X has the above topology U, a
map f : Y -* X (Y a topological space) is continuous if and only if every
C f"1 is open.
Products in T. Suppose that {X.}. - is a family of topological
spaces. Let X = IUC in S, with projections ^ i X ^ X . . Let U be
the topology on X with sub-basis all sets of the form Y.7r7 , with Y.
open in X.; then clearly *U makes all the n. continuous; it is in fact
the weakest topology for which this is so.
13
Now let f. : Z -*X. be continuous maps. Then a! map
f : Z -*X such that for all i € I, f7r. = f.. For each set Y . ^ 1 of the
sub-basis, we have (Y.TT7 )f~ = Y.f7 , which is open in Z (because f.
is continuous). It follows that f is continuous. This shows that in the
category T, (X, °lt) is a product of the given objects X.. Since products
in T are unique (up to ct- isomorphism) we see that °\i is the only topology
on the product set which has this universal property in T. We call this
topology 'U the product (or Tychonoff) topology on X. A basis for the
open sets of "U is obtained by taking all finite intersections of sets
Y.TT"1, with Y. open in X.. Now Y.TT"1 = II Yl, where Y! = Y. and
14
Definition. In any category 6 if X = n X. and Y = n Y.
iel 1 iel 1
with projections £. : X - * X . and 77. : Y "• Y. respectively and if
f. : X. -• Y., then the morphisms |.f. : X -* Y. define a unique f : X -• Y
such that £.f. = frj. for all i e l . This f will be denoted by n f. and
1 1 1
iel l
will be called the product of the morphisms f..
(ii) If the f. are as above in some category (B and if in addition
we have morphisms g. : Y. -*Z. in ©, then II (f.g.) =(II f.)( n g.).
1 1 1
iel l l iel l iel l
(iii) If I is finite, and the morphisms f. : X. -* Y. in T are
open, then II f. is open.
iel l
Warning: If h. : Z -• X. are open in T then it is not true in general that
the induced map h : Z -* II X. is open, even when I is finite.
iel 1
(iv) If X. is a subspace of Y. for each i then IIX. is a sub-
space of IIY. (i. e. the product of inclusion maps is an inclusion map).
Warning: If Y. is a quotient space of X. with quotient map q. :X.-*Y.
then the map q = II q. : IIX. -* IIY. is not in general a quotient map.
iel l 1
*
A counterexample, due to Dieudonne, is as follows: Let Q be the
rational numbers considered as a subspace of R and let Y be the quo-
tient space obtained by identifying all the integers in Q. If q : Q -• Y
is the resulting quotient map and t is the identity map on Q then
iXq:QxQ-*QxY is not a quotient map.
(v) If X. (i e I) are discrete spaces then IIX. is discrete if
and only if at most a finite number of the X. have more than one point.
15
11-Topological groups
17
tion, called the p-adic valuation, and the resulting topology on Q is the
p-adic topology. Thus every prime p provides two topological groups
(Q, +) and (Q*, •) with respect to the p-adic topology.
Note: In the definition of topological group one cannot omit the
assumption that inversion is continuous. For example, if we give Z
the topology with open sets 0, Z and all intervals [n, +<*>), then + is
continuous but - is not.
Examples, (i) (R, +) <=* (R^°S, •), the isomorphism being given
18
plication G X G ^ G we get a continuous map I : x ^ gx from G to
G, called left multiplication (or left translation) by g. This map has
inverse I _i which is also continuous, so / is a homeomorphism
G -* G (an isomorphism in 7*, but not in T£). Similarly all right trans-
lations r :x Kxg are homeomorphisms G -* G. As a consequence G
must be a homogeneous space, that is, given a, b e G there is a homeo-
morphism G -* G sending a to b. (L _l or r _x, will do.) Thus G
looks topologically the same at all points. We can now use translations
to transfer topological information from one point to another in any topo-
logical group, and this basic method is used in almost every proof in the
subject.
Note: Since not all topological spaces are homogeneous it is not
always possible to find a group structure on a given topological space
which will make it into a topological group.
19
larly for BA.
(v) AB and BA are each the union of a finite number of closed
sets and hence closed.
Quotient groups and coset spaces. Let G be in T§ and let H be a sub-
group of G. Let G/H = {xH; x e G } , the set of left cosets of H. The
map q : G -• G/H defined by x K x H defines a quotient topology on G/H.
With this topology G/H is called the left coset space of G with respect
to_ H. The quotient map q is an open map; for if S is an open subset
of G, then Sqq" = the union of all left cosets of H which meet S
= SH, which is open by Proposition 0(iv),
and it follows that Sq is open in G/H by the definition of the quotient
topology. Now suppose that H is normal in G. Then G/H has a canoni-
cal group structure. If ju and \x' are the multiplications in G and G/H
and i>, vr the inversions in G and G/H respectively then \x\ vr are
uniquely defined by the commutativity of the following diagrams in S.
G- G
We claim that G/H with this group structure (and the quotient topology)
is a topological group, i. e. JLIT and v% are continuous.
20
Exercise (iii), p. 15). In addition q x q is continuous and a surjection
and hence a quotient map. Thus MT is continuous and G/H is a topo-
logical group.
G/H
Proof, (i) is an exercise; (ii) and (iii) have been proved above;
(iv) follows from the corresponding results for 9 a n d ^*.
21
If 1(1) = 1, f(I) = S less a point; but C less a point is open in
the whole space, so f (I) is open in S .
If 1(1) < 1, f(I) is an arc without end-points, and so is open in
S , being the intersection of S with an open disc with the missing end-
points on its edge.)
Hence, by Proposition l(iv), R/Z ai S1 as topological groups.
N. B. f is not closed; e. g. , in + (1/n); n integral > 1} is
closed, but {f(l/n)} is not closed, as its closure contains f(0).
(ii) In a similar way we have a map g : C* -•R p o s in T'g,
given by z *+ |z | which is an open surjection, with kernel S , so
CVS1 ^R p 0 S in r s .
6 : GLn(R)-*R*,
with kernel denoted SL (R) (the special linear group). For x eR*, the
matrix diag(x, 1, . . . , 1) has determinant x, so 6 is a surjection. We
claim that 6 is open, and thus
GLn(R)/SLn(R) ^ R * in ?$.
22
PGL (R). It is, of course, a topological group with respect to the quotient
topology.
23
open set in S meets it in an infinite set, so none of its finite subsets
are open.
We briefly describe another notorious example which is perhaps
easier to visualise. It concerns subgroups of the two-dimensional torus
T = S x s which is a topological group with respect to the product
group structure and the product topology (see the next section for products
in 7*8). The function 0 : R -* T2 defined by t K (exp 2ffit, exp 27riAt)
A
2
is a morphism of topological groups. Its image I. is a subgroup of T
whose nature changes radically according to the value of the real constant
A. If A is rational, all is well; putting A = ±m/n where m and n are
coprime positive integers we find that Ker 0 = nZ and I is a topologi-
A A
cal circle which winds round the torus m times one way and n times the
other way. Indeed, the restricted map 0* : R -•I is a continuous, open
surjection, and therefore L ^R/nZ, which is ^S-isomorphic to S . We
A
round the torus infinitely many times, never passing through the same
point more than once. However, the topology on I does not match the
A
topology on R because, although I passes through the identity
A
0 (o) = (1, 1) only once, it passes arbitrarily close to it after winding
round the torus suitably often. In fact, every neighbourhood of 0.(0)
A in
2
T contains points 0.(t) for an unbounded set of values of t. Hence
A
any neighbourhood of 0.(0) in L corresponds to an unbounded subset of
A A
R, and the two topologies are quite different. Again we leave the detailed
proof of these facts as an exercise. (In order to find points 0. (t) close
A
to 0A(O) one looks for pairs of integers (s, t) such that s + At is close
to 0. There are plenty of such pairs because, as we showed above,
Z + AZ is dense in R.)
This example confirms the need for a topological condition in the
first isomorphism theorem. It also gives another example showing that
the third isomorphism theorem of group theory does not extend to topo-
logical groups. We put G = R x R, H = Z x Z and consider the line
A = {(t, At); t eR } in G with irrational slope A. Then A n H = {(0, 0)}
so A/(A
24 n H ) ^ A ^ R in TQ. However, (A + H)/H is, by the corollary
to Proposition 1, a topological subgroup of the quotient group G/H. We
shall see in the next section that G/H ^ T in T£, the isomorphism
being induced by the map 6 : (x, y) K (exp 2?rix, exp 27riy) from G to
T . The subgroup of T corresponding to (A + H)/H is the image of
A under 6, which is precisely the subgroup L described above. It
follows that (A + H)/H and A/(A n H) have different topologies though,
of course, they are canonically isomorphic in g.
3. Products
Let {G. }. be a family of topological groups. Their product
G = I1G. (as sets) has a natural group structure (product in 8) an(* a
natural topology (product in T). With this topology on G, a map
f : X -* G is continuous if and only if each f 77. : X -• G. is continuous.
The group operations ju, v are defined on G so that the following
diagrams commute for each i:
G x G-
77. X 77.
1 1
G. x Gf
whence, as 77., ju., v. are continuous for all i, so are \m. and i>77..
Thus M, v are continuous and G is a topological group.
Now given morphisms f. : H -• G. in 7*8, the unique induced map
of sets
25
R n s* R x . . . x R (n copies)
in 2*9, that is, the product topology coincides with the metric topology
on real n-space. The reason for this is that every open ball in R con-
tains an open n-cube centred on the same point, and vice versa.
(ii) S is an Abelian topological group, whence so is
T = S x . . . x s 1 (n copies). (By definition T° is the trivial topo-
n 1
logical group with one element.) We observe that S =. R/Z in 7*9 or,
what is the same thing, the morphism 0 : R -• S1 with kernel Z defined
by t ^ exp 277it is open. The product morphism 0 n : R n -* T n is there-
fore open, and its kernel is Z n . It follows, by Proposition 1 (2"g) that
T n ^ R n / Z n in r g . More generally, if G=nG. in r$ and H. is a
normal subgroup of G. for each i, then H =IIH. is a normal topological
subgroup of G and G/H .= n(G./H.) in 2"g. One simply needs the facts
that a product of subspaces is a subspace of the product of the containing
spaces, and that any product of open maps is open.
26
Clearly, if for each x e X we are given a fundamental system of
open neighbourhoods of x, ^(x) say, then u ^(x) is a basis for the
xeX
open sets of X.
Now suppose that G is a topological group and $ is a fundamental
system of open neighbourhoods of the identity element e. Then for xeG,
= {Ux; U e ^ } is a fundamental system of open neighbourhoods of
x (because r is a homeomorphism!).
Any fundamental system ^ of open neighbourhoods of e in G
has the following properties:
27
Proposition 2. Let G be an abstract group and let £F be a non-
empty collection of subsets of G, each containing e, such that £F satis-
fies the conditions FN1-FN4. Then there is a unique topology on G such
that G is a topological group and $ is a fundamental system of open
neighbourhoods of e.
28
(Proof. FN2, FN3 hold automatically with V = U.)
Thus any collection of subgroups of G containing all conjugates of
its members and all finite intersections of its members (in particular any
chain of normal subgroups of G), defines a topological group structure
on G, in which the open sets are all unions of right (or left) cosets of the
given subgroups.
30
(i) G is Hausdorff.
(ii) 6 : G •* G x G is a closed map.
(iii) For f, g : H -• G in ¥§, their difference kernel is a
closed subgroup of H.
(iv) For any f : H -* G in TQ, Ker f is a closed subgroup of H.
(v) {e } is a closed subgroup of G.
(vi) G is T , i. e., every one-point subset of G is closed.
(vii) n ff = { e } .
(viii) The intersection of all neighbourhoods of e is_ {e }.
Proof. (i) => (ii) follows directly from Proposition 3 (T) whilst
(ii) => (iii) requires only the extra result that the difference kernel of two
group homomorphisms is a subgroup.
(iii) => (iv): Kerf is the difference kernel of f and g, where
g : H -• G is defined by h K e for all h in H.
(iv)=* (v): Take f as the identity map on G.
(v) =^ (vi): G is a homogeneous space.
(vi)=» (vii): Let g^e be an element of G. Since {g} is
closed and e j£ {g} there exists U e $ such that U n {g} = 0. Hence
g i n % and so n $ = {e}.
(vii) =» (viii) is trivial.
(viii)=> (i): Let a * b be elements of G. Since ab" 1 * e there
exists a neighbourhood U of e which does not contain ab" 1 . We may
now find a neighbourhood V of e such that V"1V £ U. Then ab" 1 ^V~V,
so Vab" n V = 0 and Va n Vb = 0. But Va and Vb are neighbourhoods
of a and b respectively and so G is Hausdorff.
31
and every point b £ A, there exist open sets U, V in X such that
A £c uu b eeVV and U n V = 0. Thus a regular T -space is Hausdorff
since we may take A to be a point.
32
(b) for i =£ j pick some fixed element x. e X. and let f. be the corres-
ponding constant map. These f. induce an injection f : X. -»X in T
and so by part (i) X. is Hausdorff.
Conversely, suppose that each X. is Hausdorff and that a and b
are distinct points in X, with coordinates {a.} and {b. } respectively.
Since a * b there exists an i such that a. * b. and hence there exist
disjoint neighbourhoods A and B of a. and b. respectively in X..
Clearly ATT7 and B7i7 are disjoint neighbourhoods of a and b in X.
33
(iii) T n = S1 x s 1 x . . . x s 1 is a Hausdorff group.
(iv) R/Q is not a Hausdorff group since Q is not closed in R.
(v) If G is any topological group, let E be the closure of the
trivial subgroup, that is, the intersection of all closed sets containing e.
Then E is closed, and we shall show that it is a normal subgroup of G.
The sets E~ , x" E for x e E, and y"XEy for y e G are all closed in
G, being images of E under homeomorphisms G -* G; they also all
contain e. Hence E c E" 1 , E c x"1E for x € E, and E c y"XEy for
y e G. It follows easily that E" 1 c E, xE c E for x e E, and yEy"1CE
for y € G, whence E is a normal subgroup. The group G/E is a
Hausdorff group since E is closed.
6. Open subgroups
Proposition 6. Let G be a topological group. Then:
(i) every open subgroup of G is closed and every closed sub-
group of finite index is open;
(ii) every subgroup of G containing a neighbourhood of e is_
open;
(iii) if H is a subgroup of G then G/H is discrete if and only
if H is open.
34
(iii) G/H is discrete «==* all points are open in G/H
<=* H and all left cosets of H are open
in G
^ ^ H is open in G.
7. Connectedness
Definition. A topological space X is connected if it is non-empty
and cannot be written X = A u B where A and B are non-empty, dis-
joint open subsets of X. Thus a non-empty space X is connected if and
only if the only subsets of X which are both open and closed are 0 and
X.
A disconnection of X is a pair of complementary, non-empty,
open-closed (i. e. open and closed) subspaces.
35
a. € U., U. is open in X. and for all but a finite number of i, U. = X..
Given any x € X, by changing a finite number of components of x we
obtain a point in IIU. and hence in A. Hence x e A and it follows that
36
all closed subspaces of X containing C. We shall verify that C is
connected, which will imply that C £ C thus proving that C is closed.
Suppose that C = A u B is a disconnection of C with x € A.
Then A n C * 0 and C is connected, so A 2 C . Now A is closed in
C which is closed in X, so A is closed in X. Since A 2 C , this
implies that A 2 C , so A u B is not a disconnection of C. Hence C
is connected.
37
each i. Let A. be a connected subspace of X. for each i. Then
IIA. is connected (by Proposition 7 (T)) and is a subspace of IIX. (see
Exercise (iv), p. 15), thus can only have one point. Therefore each A.
has only one point, i. e. , each X. is totally disconnected.
Conversely suppose that X. * 0, and X. is totally disconnected
for each i. Let A c nx. be connected. Then Air. is a connected sub-
space of X. (by Proposition 7 (T))9 so has only one point. Therefore
A has only one point, i. e., nx. is totally disconnected.
38
Consider its component at its identity element. This is a normal sub-
group of G/H and so, by the corollary to Proposition 1, it is isomorphic
in 2^9 to a group L/H, where L is a topological subgroup of G con-
taining H. Now L/H and H are both connected, so L is connected,
by Proposition 7 (2"9). It follows that L £ H and so the component of
G/H at its identity element is trivial.
The component of G at an arbitrary point x is just xH, because
I x is a homeomorphism from G to G. Similarly, in G/H, the com-
ponents are just the cosets of the trivial subgroup, i. e. , one-point sets.
Hence G/H is totally disconnected.
Finally, if U is an open subgroup of G, then U is open and
closed (Proposition 6) and contains e. Hence UfiH is a non-empty,
open-closed subset of the connected space H, and so must be the whole
of H, i. e. , U 2 H.
Note: Any totally disconnected group is Hausdorff because the
trivial subgroup is a component and is therefore closed (see Propositions
8 (T) and 3
39
path-connected if, given a, b e X, there is a continuous function p : I-*X
(where I denotes the closed unit interval [0, 1] in R) such that Op = a,
lp = b. Any path-connected space is connected. For if X = A u B is a
disconnection of X, we may choose a € A, b e B and obtain a path from
a to b as described above. Then I = Ap u Bp is a disconnection
of I. This is impossible because I is connected (Exercise). Now in
R , any two points a and b can be joined by a line-segment, which is
a continuous image of I under the map p : t H* (1 - t)a + tb. Hence R n
is path-connected.
(iv) R n \ {0 } is connected if n > 2. Indeed, it is path-connected
because any two points can be joined to a third point by line segments not
passing through 0.
(v) S is connected if n ^ 1 since there is a continuous sur-
jection x K x / | x | from R n + 1 \ { 0 } to Sn. (Note: S° is a discrete
two-point space.)
(vi) T n is connected for all n > 0 since there is a continuous
surjection from R n to T . Alternatively, it is connected because it is
a product of connected groups S .
(vii) In a free group F, the lower central series F = F DF 3 . . .
is a chain of normal subgroups. (F is generated by all commutators of
weight n.) By the corollary to Proposition 2, F is a topological group
with respect to a topology in which {F } is a fundamental system of open
neighbourhoods of e. Now Magnus has proved that DF = {e } (see
'Combinatorial Group Theory' by Magnus, Karrass and Solitar (Inter-
science), Theorem 5. 7 and Corollary). Since the groups F are open in
F, they all contain the component of F at e (Theorem 1) and it follows
that F is totally disconnected.
(viii) Q, as a subgroup of R is totally disconnected. For let
a, b e Q with a < b and suppose that X is a connected subspace of Q
containing a and b. Then a r € R such that a < r < b and r £ Q.
The sets A = lx eX; x < r } and B = {x e X; x > r } are now easily
seen to form a disconnection of X.
(ix) Q, with the p-adic topology, has as a fundamental system of
open neighbourhoods of 0 the chain of subgroups Z 3 pZ 3 p2Z 3 . . .
3 p Z 3 . , . . The intersection of these subgroups is { 0 }, so Q is
40
totally disconnected as in Example (vii).
(x) The orthogonal group O is the group of all n x n real
matrices M such that MM = I . These matrices represent linear
transformations R -+R which preserve distances (and therefore angles);
the columns of such a matrix are orthogonal vectors of unit length. As
2
41
with the same last column, then M = M M where M is of the form
A . v i i
8. Compactness
Definition. A space X is compact if it has the Heine-Borel
property: every cover of X by open sets, X = u X., can be reduced to
iel *
a finite sub-cover, i. e., there exist
42
Alternative definition (trivially equivalent to the above): X is compact
if every family {C. } of closed subspaces of X has the 'finite inter-
section property', which asserts that if each finite subfamily of {C. }
has non-empty intersection, then the whole family has non-empty inter-
section.
Notes: 1. In older books this property is called TbicompactnessT.
2. Many authors call a space 'compact' only if it is also Hausdorff.
3. X is said to be sequentially compact if (i) it has the Bolzano-
Weierstrass property: every infinite subspace S of X has a point of
accumulation (i. e., there exists b e X such that every neighbourhood of
b contains an infinite subset of S), or, equivalently, (ii) every sequence
of elements of X has a limit point (i. e. , given {x }, x e X, we can
find b e X such that every neighbourhood of b contains x for infinitely
many n). This property was called 'compactness' by earlier authors.
[Exercises, (i) If X is compact then it is sequentially compact, (ii) If
either (a) X is a metric space, or (b) X has a countable basis of open
sets, then X is compact if and only if X is sequentially compact. ]
4. A subspace of R is compact if and only if it is bounded and
closed. This is the content of the Heine-Borel Theorem. In particular
[0, 1] is compact. More generally, a subspace of a complete metric
space is compact if and only if it is closed and 'totally bounded' (i. e.,
for any given e > 0, it can be covered by finitely many open e-balls).
For properties of metric spaces, see 'Functional Analysis' by Kolmogorov
and Fomin (Graylock), Volume 1.
5. A discrete space is compact if and only if it is finite. (Exer-
cise! )
43
(vi) If f : C "• H as in (v) is a bijection then it is a homeomor-
phism.
(vii) If f : C -• H as in (v) is a surjection then H has the
quotient topology.
44
is compact.
(ii) Real protective n-space P n is defined as (R n \{0})/p
where xpy means that 3X^0 with x = Ay. The compact subspace S
of R n \ {0 } maps onto P n under the quotient map. Hence P n is
compact. (P is in fact a quotient space of S , obtained by identifying
diametrically opposite points.)
(iii) T n = R n / Z n is compact because the closed cell given by
0 < x. < 1 in R is closed and bounded, so compact, and it maps onto
45
(i) if A, B € 3 then A u B e 3;
(ii) if A e 3 and B c A, B € <C then B € <J.
3 is a proper ideal if 3 ± £, i. e., if S ft 3.
The union of any chain of proper ideals is a proper ideal, so by
r
Zorn s lemma every proper ideal is contained in a maximal ideal.
('Maximal ideal* will always mean Tmaximal proper i d e a r . )
46
Lemma 2. The following are equivalent conditions on a topological
space X:
(i) X is compact
(ii) If 3 is a proper ideal in 0(X), then
u (3) * X.
n (5F) * 0.
47
hence as X. is compact, u(3TC.)*X.. Choose x. eX.\upH.).
We claim that x = (x.) t u (3Tt). For if x € A e 3H, A is open, so there
is a basic open set Y such that x e Y Q A. (Hence Y e3Tl.) Now we
may choose finitely many indices i(l), . . . i(m) e I, and open sets
Z
i(r)CXi(r) <r = l, - m)
Y = Y m n . . . n Y, v.
(1) (m)
Then for each r, x e Y Q Y, y and therefore x., , eZ., y But by
Lemma 1, since Y e3Il, some Y, , e3TC, and then x., , eZ., , e^d., y
which contradicts our choice of the x.. Hence u pit) * X, and X is
compact.
The converse of TychonoffTs Theorem is trivial. If each X. is
non-empty, and IIX. is compact, then each projection is continuous,
hence its image is also compact; but this is the whole of X..
Proof, (i), (ii), (iv) follow from Proposition 10 (T) and Theorem
2. For the proof of (iii) we need:
48
cover C, hence so do a finite number; thus we may select V , . . . , V ,
n in
corresponding to x , . . . , x , with C £ u V.x..
n .=1 11
Now take V = n V., an open neighbourhood of e. Then
VC c W i x i u • . . u VV n x n , and each VV. c y.V. c w., so W . x . Q A.
Thus VC £ A as required.
Proof of (iii) in Proposition 10 (2*Q) above. Suppose that H and
G/H are compact. Write q for the projection G -> G/H. Let 3 be an
ideal of 6(G) such that u (3) = G. It is enough to show that G e 3.
For any x c G, xH is compact, and is covered by 3 (as u($)=G);
hence xH Q J, where J is a finite union of sets in 3. But 3 is an ideal,
so J e 3, and J is open.
By Proposition 11 we may choose an open neighbourhood V of e
such that VxH c j . Then VxH is open, hence is a member of 3, and
it is a union of cosets of H.
Let 3' = \A e ©(G/H) : Aq" 1 n V e 3 }. Then 31 is an ideal in
0"(G/H), non-empty since
49
finite number of them, say V, , . . . , V , corresponding to b , . . . , b
and U1 , . . . , Un . Let V = u V., U= n U.. Then U, V are disjoint
i=l * i=l *
open sets with a € U, B Q V, by construction.
Now, for each a e A, let S , T be disjoint open sets such that
a a
a e Sa . B C Ta. (We have just proved that such sets exist.) The Sa
cover A, hence so do a finite number, say S1 , . . . , Sm , corresponding
m m
to a , . . . , a and T , . . . , T . Then AT = u S., and BT = n T.
i m i m .=1 ] .=1 j
are disjoint open sets with A C A ' , B Q B\ as required.
H = C* U C* U . .. u C * U X ' U YT
l 2 n ^v
= D * U X ' U Y1, K
'
50
9. Profinite groups
Inverse limits. Let © be any category, and (I, <) a partially
ordered set. Suppose that for each i e I we have an object A. in G,
and that for each pair i < j we have a morphism f.. : A. -• A. in G
ji j i
satisfying the coherence conditions:
(i) each f.. : A. -* A. is the identity,
(ii)
v if i < Jj < k,' then f.kj.f..ji = f.ki. : A.k -• A..
I
51
A = { a = {a } € P ; if j < k , a,f,. = a . } .
52
e € A. Then (as G is compact Hausdorff), A is compact, and open.
Hence by Proposition 11 there is an open set V containing e, such that
VA c A.
Let W = V n V' 1 , so that W is open, e e W, and W = W"1.
Then WA = W"1A Q A, and so by induction, WnA c A for all integers
n. Since e e A, it follows that Wn c A, for all integers n. If H is
the subgroup generated by W, then H = u W Q A, and H is open by
neZ
Proposition 6(ii). Since H is open in the compact group G, it has finite
index (Proposition 12) and so has only finitely many distinct conjugates
x~ Hx in G. The intersection K of these is thus an open normal sub-
group of G, and K Q H Q A, as claimed.
Let N.(i el) be all the distinct open, normal subgroups of G.
The argument above shows that n N. = {e}. Since G is compact, and
id l
N. is open, the index of N. in G is finite for all i (Proposition 12).
Now order I by letting i < j if and only if N. 2 N., and put A. = G/N.,
a finite discrete group. If i < j then there exists a canonical morphism
f.. : A. -•A. given by xN. KxN.. The {A.) and {f.. } form an inverse
system of topological groups. Let A = lim A. in 2*8 with canonical
maps a. :A-*A.. Each A. is finite, so A is a profinite group; it is
constructed as the subgroup of I1A. consisting of those elements
a = {a. } = {x.N. }. such that x.N. Q x.N., whenever i < j . Now G
has quotient maps T. : G -* A. for all i, and T.f.. = r. for i < j . There-
i i 3 Ji i
fore there exists a unique r : G -• A in ^S such that TO. = r. for all
i €l, namely x -* {xN. }. r We show:
(i) r is an injection. For if x e G and xr = e, then xr. = e
for all i, whence x e ON. = {e }.
(ii) r is a surjection. Let a = {x.N.}. - be any element of A.
Each N. is open and hence closed, so each x.N. is closed. The inter-
section of any finite number of the N.'s, say N. n N. n . . . n N. , is
again an open normal subgroup N, for some k. Hence x,N, £x. N.
for a = 1, . . . , r, and so the intersection of these cosets is non-empty.
By the compactness of G there exists x e n x.N.. But then xN. = x.N.
.eI l I i l l
53
for all i € I and so xr = a.
We have now proved that r is a continuous bisection G -• A. However G
is compact and A is Hausdorff. By Proposition 10, r is an isomor-
phism in 2"9 and so G is a profinite group.
have no common solution x for all n, even though every finite number of
them have a common solution. (Exercise: show that Z is not compact
with respect to the 2-adic topology.)
However, if we form the p-adic integers Z = lim (Z/pnZ) we
obtain a compact group containing Z as a subgroup (exercise). In Z
the above congruences do have a common solution, and this was the
original purpose of HenselTs construction of the p-adic integers.
b + b P + b p2 +
o i 2 ••• (infinite sum)
54
Example, (ii) Infinite Galois groups. Let K be any field, L
any Galois extension of K (i. e. , algebraic, normal and separable), not
necessarily of finite degree.
Let G = Gal (L : K) be the group of automorphisms of L fixing
all elements of K. Clearly L is generated as a field by all finite Galois
extensions L. of K with L. Q L. For each L. the subgroup
N. = Gal (L : L.) of G is normal and of finite index in G. Furthermore
G/N. = Gal (L. : K) in S.
Define a topology on G by taking {N. } as a fundamental system
of neighbourhoods of e. (This may be done since N. n N. = N, , where
1 K
J
L, is the subfield of L generated by L. and L.. See §4 above.)
It is not difficult to show that there exists a one-to-one correspon-
dence between the closed subgroups of G, with respect to this topology,
and the fields between K and L; this correspondence has the properties
one expects from the Galois theory of finite extensions.
Exercises, (i) G = Gal (L : K) is profinite; G = lim G/N..
Crucial points in the proof are:
(a) If a. e Gal (L. : K) for each i, and a., a. agree on L. n L.
for all i and j , then 3 a e G inducing all a..
(b) The topology on G is the same as the inverse limit topology,
(ii) If G is in TQ, and if A and B are compact subsets of
G, then AB is compact.
(iii) If A is a closed subset of the topological group G, and B
is a compact subset of G, then AB is closed.
(iv) If H is a compact subgroup of the topological group G,
then the quotient map G -* G/H is a closed map.
55
Examples, (i) R is locally compact,
(ii) Any compact space is locally compact,
(iii) Any discrete space is locally compact,
(iv) Q C R is not locally compact.
(v) Infinite-dimensional Hilbert space is not locally compact,
(vi) An infinite product of copies of R is not locally compact
(as is implied by the next proposition).
56
with the discrete topology. Then X is locally compact and the identity
map X -* X is continuous.)
57
fore v € X n V = J. It follows that WxH n V e 3.
Now Wx is open in G (because W is open), so (Wx)q is open
in G/H. Therefore (Wx)q n C e #T since Wxqq"1 n V = WxH n V e Q.
In particular xq e u(# f ) for any x e V, so u(# f ) = C. But C is com-
pact so C e $\ Therefore V e 3 and by Lemma 2 (p. 47) V is com-
pact.
It remains to find closed neighbourhoods U and V of e satis-
fying conditions (a), (b), (c). The subgroup H of G is locally compact;
therefore there exists a neighbourhood U of e in G such that H n U
is compact. Since G is regular (by Proposition 4) there exists a closed
neighbourhood U of e in G with U £ U . Since U OH is closed
in U n H it follows that U n H is compact. Again by regularity there
exists a closed neighbourhood U of e with U~ U Q U . Now if x e U
then xH n U = x(H n x" U). Since x" U is closed and contained in U ,
it follows that H n x~ U is closed in H n U and is therefore compact.
Hence xH n U is compact.
Now choose a neighbourhood V of e in G such that V V £U.
Since q is an open map, V q is a neighbourhood of H in G/H. Using
the regularity of G/H (Proposition 4(ii)), there exists a closed, compact,
neighbourhood C of H in G/H with C £ V q.
Now put V = V n Cq" 1 . It is easy to see that U and V satisfy
conditions (a), (b), (c).
7. (R p o s , • ) , (C*, •).
8. The Taffine group': this is the group of transformations
R n -»R n generated by all linear isomorphisms and all translations. The
59
translations form a normal subgroup isomorphic with R n , whose quotient
group is isomorphic with GL (R); both these groups are locally compact,
so the whole affine group is locally compact (by Proposition 16).
9. The additive group Q of p-adic numbers is locally compact.
This group can be defined as lim (Q/pnU), where U is the group of
rational numbers with denominator prime to p. It contains
Z = lim (Z/pnZ) as a subgroup, and in fact Z is an open, compact
neighbourhood of 0 in Q . (Exercise.)
60
Ill- Integration on locally compact
groups
1. Abstract integrals
We seek to construct an 'integral' on a locally compact group.
This may be done by a variety of methods; we wish to avoid measure-
theoretic methods and so we take as our model the construction of the
Riemann integral on (R, +). There we have the set (ft of all Riemann-
integrable functions (vanishing outside some interval), and a map
J : (ft -* R defined by
which satisfies:
(i) Linearity: J(Xf + /xg) = Xjf +
(ii) Positivity: f > 0 ^ Jf > 0.
(iii) Translation-invariance: if for some fixed a e R and all
x e R, g(x) = f (x + a) then
Jg= ff.
61
for functions X -*R. This notation is more familiar in such a context
and will cause no conflict since we shall not need to compose such func-
tions. ) Equivalently, 3C(X) is the set of continuous functions X ->R
which vanish outside some compact set.
JC(X) is a real vector space. It is also partially ordered by <,
where f < g means that f(x) < g(x) for all x. In fact it is a lattice:
62
Continuing in this fashion we get C(0) for every 9 of the form 0 = i / 2 n
with 0 < i < 2 n . Then for any real a, with 0 < a < 1, define
63
(i) f < g ^ f + h < g + h,
(ii) f < g=* Af < Ag for any real A > 0.
The obvious morphisms to consider between such structures are the order-
preserving linear functions. Thus a positive integral on X may be des-
cribed as a non-trivial morphism of partially ordered vector spaces
from 3C(X) to R. Integrals do not, however, preserve the lattice opera-
tions.
is a positive integral on R.
64
2. Some results on approximation
Our aim is to prove that there exists an essentially unique right
Haar integral on any locally compact group G. To do this we shall try
to approximate functions f e 3C(G) by sums of translates of scalar mul-
tiples of a function with small support. (Cf. approximation by step func-
tions in the case of the Riemann integral.) The basis for such approxi-
mation is:
For any such a. and x., and any right Haar integral jx on G,
^ (2 «.)
Proof. There exists t e G such that F(t) * 0. Let j8 = | F(t)> 0.
Then there exists an open neighbourhood V of e in G such that
F(x) > 0 for all x e Vt (by the continuity of F). Let C = support(f);
then C is compact, so is covered by a finite number of sets Vc (ceC),
say C £ Vc u Vc2 u . . . u Vc .
If x e V c . then x c ^ t e V t , so that F(xc~Xt) > 0, i.e.,
x
i -l
F (x) > 0, where x. = t c But f is bounded (the set of its values in
R is the image of a compact set!), say f(x) < M for all x e G. Hence
n x
lv/r -
I M p 1(x) > M > f (x)
X
~ M *
for all x € C (since x c some Vc^, and 2 -g-F l(x) > f(x) trivially for
x ft C. This proves the first part of the proposition.
x
If now f < X « . F i we have
x.
/i(f) < /i(2 a.F l)
X.
65
Corollary. If F e JC+(G) then JU(F) > 0 for all right Haar
integrals JU.
|| /x(-f)) > 0.
0 < M(|f|)^(Z
So M(F) > 0.
For f, F € 3Q+ = 3C+(G), let (f : F) be defined as
(f : F) = inf {(SOL); a. > 0, and for some x. e G, Z ^ F * > f }. By
Proposition 19, (f : F) exists and is non-negative; also if \x is any
right Haar integral on G, then \x{i) < (f : F)M(F).
66
x. y.
J
(v): Suppose that f < Z a.g , g < Z^F . Then
3
x. y.x * (y^x.)
g * < 2 £.F J \ and f < Z a.jS.F J . Thus
J
i U *J
(f : F) < Z a.jS. = (Z a)(l 0 ), and hence (f : F) < (f : g)(g : F).
J
i,j i j
We now normalize (f : F) by fixing a standard function g € 3C+(G)
and defining
|f(x)-f(y)| < e
67
Since also x ex.M(x.) Q x.N(x.), we have
68
x
i I I
Then F j(t) = 0 unless t fVx., and then |h.(x.) - h.(t) | < a/2;
so
x.
f.^ph.^.h.F^
x.
j a/2)F J .
j
It follows that (f. : F) < Z jS.(h.(x.) + a/2), (i = 1, 2). Thus
(fx : F) + (f2 : F) < (1 + a)2 A., because h^x.) + h2(x.) < 1. Taking
limits, (f : F) + (f : F) < (1 + a)(p : F), and hence
/i
F(f2) ~
f2)
3. Convex cones
The facts about the 'approximate Haar integrals' M^ which we have
r
now proved can be used in many ways to establish the existence of a Haar
integral (see, e. g. , Nachbin [7] or Hewitt and Ross [3]). The geometrical
approach which we adopt here has the advantage of being more conceptual,
though no shorter, than the standard methods. We first introduce some
elementary notions from convexity theory and prove a general result on
the existence of supporting hyperplanes of convex cones.
69
Definition. If V is a real vector space, a non-empty subset
E of V is a convex cone if
(i) A> 0=^ AE C E,
and (ii) E + E Q E.
(It follows from (i) and (ii) that if A, \x > 0, and A + JU = 1, then for all
u, v e E, also Au + JLXV e E; i. e., E is convex in the usual sense.)
70
follows that /Lt(f ) and n(f ) have the same sign, and therefore either
\i or -\x maps 3C to the positive reals, hence is a Haar integral.
71
(iv) E is an open convex cone, and E* = V\E is a convex cone,
whence so are (-E*), and V\(E u -E) = E* n (-E*) = H, say. Clearly
u e H ^ -u e H, and H is a subspace. Also V = E u H u (-E), a dis-
joint union, and so proceeding as in (iii), we see that H is a hyperplane.
Further, W n E = 0, so W n (-E) = 0, and W Q H. Similarly if HT is
any subspace containing W and not meeting E, then Hf £ H. In par-
ticular if HT is also a hyperplane, then H' = H, so H is unique.
L e m m a A. JC n <C = 0.
i
X
i
Then f + 2 f • = Z f., and we are looking for a contradiction.
l
i i l
Let e > 0. By the corollary to Proposition 22 we can find an open
set V such that, whenever F e JC has support contained in V,
X X
i i
Hr (f + 2f.
. 1 )^M Trr(f) + ZM
. r F (f.
I )-e.
72
F € 3C+ such that support(F) Q V.
With such an F, we have
= MF(f + Zf i 1 )
1
-M F (f) + Z M F ( f i V e
x.
f ± Xk => p + q - Xl a.p 1
x.
where qT = q + A 2 a?, (p - p ) € «C.
Hence f ± Ak e 6 whenever 1 - \J, a. > 0, i. e., whenever
0 < A < (£ a?.)"1, which shows that 6 is open.
It now follows by Proposition 23 that there is a hyperplane H in
JC such that H 2 £ and H n e = 0 (so in particular H nJC+ = 0). By
the remarks preceding Proposition 23, H determines a right Haar inte-
gral on G.
5. The uniqueness of Haar integrals
We shall use Theorem 5 to prove the uniqueness of the right Haar
integral. It is possible, at the expense of some extra detailed analysis,
to prove both existence and uniqueness at the same time, but the effort
seems hardly worth while. The only advantage is that it does away with
the use of the choice axiom in the proof of existence; but since Urysohn's
73
Lemma is essential and relies on the choice axiom this is not a genuine
logical advantage.
f(x)h.(x)/h(x) if x €C
0 if x i C.
for all x e G.
74
Then we have support(Fx) £ Vx, so
Then
75
< I M(F) + 6(f : F)jti(F)
for all x € G. Now divide by ju(F) and put a. — /u(f.)/JLI(F). This gives
x.
|f(x) - I a.F \x) | < | + 6(f : F) for all x e G.
f + eh > -k € £,
76
so that
f + eh e £ + JC+(G) = 6,
f - eh < -k e £
and
f - eh € - e .
ii - f2 + eh € 6 or f2 - fx + eh e 6. (*)
77
Notation. We shall write the more explicit form
J G f (x)dM(x)
P(f) = !
and
a(f)= JHG
Apply v to get
78
Similarly a is a right Haar integral on G x H. So for some
X> 0
Thus JU is a right Haar integral and so there exists a positive real num-
ber A(s) such that \x = A(S)M; A(s) is independent of the particular
right Haar integral JLX chosen. (Exercise.)
The function A : G -^R^ 08 so defined satisfies
79
any Abelian group is unimodular. A little unexpectedly we also have:
80
Proposition 28. For a right Haar integral /z with right modular
function A,
JGf(x)dM(x)=
Proof. The left hand side is n(f) = v(f) and we have seen that
v is a left Haar integral. Let f*(x) = f(x)/A(x); then the right hand side
is fi(f*) = P(f), say. Now p is clearly a positive integral. It is also
left invariant:
Ms x)
whence
p( s f) = M((sf)*) = M(^gJ.
s
(f*)) = - J L j M(
s
(f*)) = M(f*) = p(f).
e
11 - -T7-T-
A(s) I < whenever s e V
and since
81
|l - AI < e for any e > 0,
82
IV - Examples and applications
In this final chapter we aim to give the reader some idea of what
the Haar integral looks like in various special cases and how it is used in
practice. The material is informally presented so as to convey informa-
tion more rapidly than would be possible in a self-contained, rigorous
account. It will be an advantage for the reader to have some knowledge
of such topics as Lebesgue integration, measure theory, normed linear
spaces and the representation theory of finite groups. However, this is
not essential for a general understanding of the chapter, and it is hoped
that the items chosen will act as a stimulus to further reading.
g < f < h,
and (ii) sup jiz(g) = inf ju(h) < °°, where the inf and sup are taken
g h
over all g and h in (i).
83
If f is summable we define ju(f) = sup /x(g) = inf M(h). Denote by
g
11 \
£ = £ (G) the set of all summable functions. If f e £ x then also
|f| ecC1. For any f eJC1, define ||f || =/x(|f |). Then JC1 is a semi-
normed space (there may exist non-zero functions whose norm is 0),
and is complete (Riesz-Fischer Theorem).
A null-function in <£ is a function f such that || f || = 0. If we
now define L = £ / {null-functions }, then L is a Banach space.
Similarly, we define <£p (for p > 1) to be the space of all functions f
such that |f|p is summable and define ||f|| = {/i(|f | P ) } 1 / P . Then
lP = £p/{null-functions } is again a Banach space, and 3C is a dense
subset of L P , for each p. Further, L 2 = L (G) is a Hilbert space,
with (f, g) = Jc f(x)g(x)d/x(x). This theory extends easily to complex-
valued functions, giving complex Banach spaces.
We can now define a right Haar measure on G, that is, a measure
invariant under right translations. We say that A Q G is measurable if
XA, the characteristic function of A, is summable. The measure of A
is then defined to be L^ X A W ^ ( X ) . It is possible to recover the Haar
integral from the Haar measure by the standard procedure for the Lebesgue
integral. For further details see Nachbin [7] and Widom [12],
2. Examples of Haar integrals
1. G = (Rn, +). This group is unimodular (being Abelian) and
the extended Haar integral is J f(x)dx, the n-dimensional Lebesgue
integral. R
2. G = S = R/Z. Again this is a unimodular group. A func-
tion f : S -*R is essentially the same thing as a periodic function
f * : R -•R with period 1. The Haar integral JU is given by
= !\ f*(x)dx.
1 \n
84
of G. Any f e JC(H) extends to Te JC(G) by the definition
f (x) if x e H
0 if x ft H.
(Exercise: check this!)
Defining MT(f) = MCO we get a right-invariant integral and hence
a right Haar integral on H.
N. B. This method does not work for all subgroups or even for
all closed subgroups; for example the Lebesgue integral on R induces
on Z by this method the trivial integral, but the Haar integral is never
trivial.
(ii) Suppose that G is a locally compact, Hausdorff group and
N is a closed, normal subgroup of G. Then Q = G/N is again locally
compact and Hausdorff. Suppose that /x and AX are right Haar inte-
grals on N and Q respectively. We can construct /x a right Haar
integral on G, as follows.
Let f € 3C(G), and for x e G define
f*(x) = JNf(yx)d/xN(y).
f(x),
85
f, g € L (G) then the corresponding elements of RG are 2 f (x). x and
2 g(x). x. Define f * g e L (G) to be the function corresponding to their
product:
2 2 f(x)g(y).xy= I { 2 f(x)g(x"1z)}z
xeGyeG zeG xeG
= 2 i 2 f(zy-1)g(y)}z,
zeG ycG
i. e . , f * g = h where h(z) = 2 ftogfx^z) = 2 tizy'^gly).
xeG yeG
By analogy, for any locally compact Hausdorff group G, with
(f * ]U g)(z)= SGi(zy-l)g(yW(y).
(Since this definition is for f, g in <C one needs to show that it behaves
correctly on taking quotients with respect to the null functions.) Simi-
larly, for the left Haar integral v, define:
(f * i ; g)(z)= iGf(x)g(x~lz)dp(x).
86
example, if G = (Z, +), then LX(Z) is the set of all doubly infinite se-
+ 00 + °°
quences a = {a } _ such that 2 la | converges, and ju(a) = £ a .
n n e z n n
-00 +00 _oo
X
If a, b€L (Z) then a * b = c where cn = Z ambn-m (the
m=-°°
Cauchy product of Laurent series).
6. Let G=(R P O S , •). K f eJC(G) then p(f) = J~ f(x)dx
(Lebesgue integral) is a positive integral but it is not right invariant. In
fact if y €R p o s , then
p(fy) = / ^ ( x y ' ^ d x
= J~yf(z)dz
= yp(f).
A general procedure for finding the Haar integral in such cases is given by
g(xy"1)g(y)
Thus |i i s a right Haar integral (cf. the relationship between left and right
Haar integrals and modular functions).
87
Corollary. The Haar integral on R p o s is given by
G = ( R p o s , •) = (*, +) = H
88
for the columns. The entry in the (i, j)-th row and (k, l)-th column of
the matrix is
a«su)..)
=
)
Arranging the basis of M in lexicographical order we therefore obtain
the matrix
\0 0
89
Here we identify N with R , using additive notation, and tTT denotes
the transform of the vector tT by the matrix T. For the computation
we shall identify G with this group of pairs.
We now apply Example 3(ii) to find the Haar integrals on G. If
f € JC(G), we first compute f*(t\ TT) = /^((t, I). (t\ TT))d(t, I), where
I is the identity of GL (R). From the definition of the multiplication
in G, we deduce that
= J J f(t? T dtdT
GL
GLn(R) R n ,| d e t ( T )!n
|n >
ft 41 TI)
< n ' n f<t? + s' T ' ) d s
IX
90
10. The orthogonal groups. The computation of Haar integrals
on orthogonal groups is harder. O is not an open subset of R n , so
the n2-dimensional Lebesgue integral is useless; it always gives zero.
What is needed is a parametrisation of O by local Euclidean coordinates.
n
+
In fact O , as a closed subgroup of GL , acquires a natural structure
as a Lie group and one gets local parameters by taking Euclidean coordin-
ates in its tangent spaces. There is then a standard method of constructing
the Haar integral (see e. g. Chevalley [2], Chapter 5).
Alternatively, one can extend the theory of Haar integrals to
locally compact homogeneous spaces and then use the embeddings
O -* O -* O -* . . . to obtain the Haar integral on O inductively,
using the analogue of Example 3(ii). Here we need to know the invariant
integrals on the coset spaces O /O -, - Sn~ . For example, on S2
there is a familiar surface integral, invariant under the action of O ,
and this together with the Haar integral on O = S1 gives an easy
2
+
formula for the Haar integral on O .
11. Profinite groups. Any profinite group G is a compact
Hausdorff group, so has a unique normalized Haar integral. Any con-
tinuous function f : G -*R is uniformly continuous, so for e > 0 we
can find a neighbourhood V of e such that |f(x)-f(y)|< e whenever
xy~ € V. Now V contains an open normal subgroup H of finite index
n, say. On each coset of H, f varies by at most e, so if we choose
arbitrary representatives x. (i = 1, 2, . . . , n) for the cosets of H, the
real number
n
l
l f(x }
5 i
n
i=l *
is determined to within e. The integral /u(f) is then the limit of this
sum as H -* e in the sense that, given e > 0, there is a neighbourhood
V of e such that
91
n the measure of each coset of H is 1/n. For example, if G = Z ,
the group of p-adic integers, the subgroups H = p G ( n = 0 , 1, . . . )
form a fundamental system of neighbourhoods of 0, and if H x, H y are
any two cosets of these subgroups, either they are disjoint or one is con-
tained in the other. It follows that every open set S is the union of a
(countable) collection of disjoint cosets of the H and the measure of S
is the sum of the known measures of these cosets. In fact, if r denotes
the number of cosets of H contained in S, then the measure of S is
lim (r /p n ).
n-*°°
3. Representations of compact groups
A (complex) representation of a topological group G is a mor-
phism of topological groups p : G -• GL (C) for some n. The integer n
is called the degree of the representation. If we consider GL (C) as
Yi
92
sums Z a.g. with a. cC, g. e G, plays a fundamental role. This A
j i 1 1 l
is an associative algebra with respect to the multiplication induced by
multiplication in G of the basis elements. Any G-module M over C
becomes an A-module if we define
93
P2(g)
p(g) =
\ PB(g)
xeG
94
on A is right translation of functions. We may therefore enquire whether
Theorems A-F can be proved for a special class of infinite topological
groups using as Tgroup algebra' the convolution algebra A = 3C(G) con-
sisting of all complex-valued continuous functions on G with compact
support. Provided that G is locally compact and Hausdorff, we have a
right Haar integral jti : 3C(G) -*C (integrate real and imaginary parts
separately) and the recipe for generalisation is to replace Z 0(x) in
the finite case by J~0(x)d/x(x).
For a compact group G this programme works very well and
gives results which include Theorems A-F as special cases. The algebra
A is now, of course, the algebra of all continuous functions G -*C. It
is a right G-module under right translation:
(f * g)(x) = JGf(xy"1)g(y)diu(y).
(This formula, for complex-valued functions, gives a product with all the
usual formal properties.)
We first observe that convolution and translation are compatible:
95
say that g e M is an eigenfunction for f if f * g = eg for some complex
number c. The eigenf unctions are the solutions of the integral equation
cg(x)= JGf(xy"1)g(y)dM(y).
f * g s = (f * g ) s = (Cg)s = cg s ,
in the sense that any such transform is the sum of a uniformly convergent
series Zg., where each g. lies in some E /.^ with c(i) * 0.
Applying this result with k(x, y) = f(xy"x), (f e A), we see that
if f € A is symmetric (i. e. f(t -1 ) = f(t)) and f * 0 then the G-module
M = f * A is spanned topologically (in the above sense) by the finite-
dimensional eigenspaces E , for c * 0, and each of these E is a
submodule. There seems to be no shortage of finite-dimensional repre-
sentations of G; but we must, of course, make sure that they are not
all trivial. We shall show, indeed, that for every t * e in G there is
an f c A and a corresponding eigenspace E such that t acts non-
trivially on E . For, if we are given t * e, we can find a neighbourhood
U of e such that t" £ U and then, by Urysohn's lemma we can find
a symmetric function f e A = 3C(G) such that f > 0, f(e) = 1 and f(x) = 0
96
for x i U. For this f we have
(f * f)(e) = JG f(y"
(f *f)t(e) = (f *f)(t"X)
= JGf(t"1y"1)f(y)dM(y)
Pt:G-GLn(C), (n = dimE c )
such that t fL Ker p.. We write K, for Ker p, and M, for the corres-
ponding submodule of M (E above). Since GL (C) is Hausdorff, Kt
is closed in G; since t ^ K,, the intersection of all the K, is {e };
since G is compact, every neighbourhood V of e in G contains a
finite intersection K = K.^v n K , ^ n . . . n Kw y The direct sum of
the corresponding modules
M
t(l) * Mt(2) ® • • • ® M t(r)
is a finite-dimensional G-module with continuous action, giving rise to
a continuous representation
repr p : G -• GL (C) whose kernel is precisely
K. This proves:
97
Theorem A'. K G is a compact Hausdorff group, then every
neighbourhood of e contains a closed normal subgroup K such that
G/K is isomorphic (in T^) with a group of complex matrices.
(Note: the continuous injection G/K -• GL (C) is an isomorphism
with the image group because G/1C is compact and GL is Hausdorff.)
An immediate corollary is
is also positive definite Hermitian and has the extra virtue of being in-
variant under the action of G, i. e. (u, v)~ = (u. g, v. g> r , by the left
invariance of the Haar integral on G. (N. B., G is unimodular.) We may
now choose an orthonormal basis of M with respect to (, )~, and the
98
resulting representation, equivalent to p, will be unitary. This proves:
Proof. This follows easily from Theorem BT, or rather from its
proof. We take a module M for the representation and construct an
invariant positive definite Hermitian form on it. If M is not irreducible
it has a proper submodule M . Let M be the orthogonal complement
of M . By the invariance of the form M is also a submodule of M,
and M = M © M . The result now follows by induction on dim M.
99
sentations. Then a = 0 for every choice of a. In matrix notation
this says (assuming that the representations are unitary) that
=a
ik6iZ^degP^"1
100
sentations p. We therefore let R c JC(G) be the closure (in the topology
of uniform convergence) of the linear space generated by all the coordi-
nate functions p.. of all the representations p of G. It is enough to
show that R = 3C(G).
Now, for any non-zero symmetric function f e 3C(G), the G-
module M,. = f * 3C(G) contains finite-dimensional submodules E which
between them span a dense subspace (see the proof of Theorem Af). Let
E be such a subspace, giving rise to a representation p with respect
to a basis g^ g , . . . , g^ of eigenfunctions. Then g x = Z p..(x)g.,
and so g.(x~l) = £p..(x)g.(e). This shows that g. e R, where
g.(x) = g.(x ). In the obvious notation, this implies that E Q R and
hence that Mf £ R for every symmetric f.
Finally, if h is any function in 3C(G), we can approximate it by
elements of suitable modules Mf as follows. Let e > 0 and choose a
symmetric neighbourhood U of e in G such that
101
in particular to themselves. So p.. = 0, for all i, j , which is impossible
for a representation.
102
References
103
Index to page heading
104
Group, profinite 52, 91 lim 51
, projective linear 22
Limit, inverse 51
, topological 16
, projective 51
, unimodular 79
Locally closed subspace 59
compact space 55
Haar, right, integral 64
, measure 84
Maximal element of a set 7
Hausdorff space 30
Measure, right Haar 84
Homeomorphism 4
Modular function, right 79
Homogeneous space 19
Morphism in a category 2
of cones 51
Ideal of a lattice 45
of topological groups 18
, proper 10
Identification topology 10
Neighbourhood 26
Inclusion map 11
Normalised Haar integral 80
Induced integral 84
Null-function 84
Induced topology 9
Inductively ordered set 7 Open map 11
Integral, positive 63 Orthogonal group (O ) 18
, right Haar 64 (On) 41
Interior point 26
Inverse limit of an inverse p-adic integers 54
system 51 numbers 60
system in 6 51 topology 18
Irreducible module 93 valuation 18
Isomorphism in a category 4 Partially ordered set 7
Path-connected 40
3C(X) 61 Peter-Weyl Theorem 100
3C+(X) 62 Positive integral 63
Kernel of a set function 5 Product, categorical 6
of a group morphism 8
of morphisms 15
of topological groups 25
Left modular function 80
topology 13, 14
multiplication in a topological
group 19 Profinite group 52, 91
quotient space G/H 20 Projection, i-th coordinate 6
translation 19 Projective general linear group 22
105
Projective limit of an inverse Summable function 83
system 51
Support of a function 61
n-space, real 45
Symmetric neighbourhood of e 27
Proper ideal of a lattice 46
T -space 31
Quotient 5 T -space 29
group of topological T -space 29
group 20
map 5, 11 Topology, discrete 9
topology 10 , identification 10
, induced 9
Real projective n-space 45 , metric 9
Reducible, completely 93 , p-adic 18
Regular representation 93 , product 14
space 31 , quotient 10
Representation, equivalent 92 , stronger 9
, faithful 93 , subspace 9
, regular 93 on a set 3
of a topological , trivial 9
group 92 , Tychonoff 14
Right Haar integral 64 , weaker 9
measure 84 Topological group 16
modular function 79 Torus, T n 14
translate of A 19 Totally disconnected 36
Semi-simple module 93 ordered set 7
Separating 2 compact sets by a Translate, right 19
compact set 62 Translation, left, right 19
Sequentially compact 43 Tychonoff theorem 45
Simple module 93 topology 14
Small subgroups 98
Space, left quotient, G/H 20 Ultrafilter 46
Sphere, Sn 10 Uniform approximation theorem 74
standard argument' for universal continuity 67
properties 6 Unimodular group 79
Stronger topology 9 Unitary representation 93
Sub-basis for a topology 13 UrysomVs lemma 62
Subspace topology 9
106
Valuation on a field 17
, p-adic 18
Weaker topology 9
Zorn's Lemma 7
107
Index to numbered results
Lemma 1 46 Proposition 11 48
V 46 12 49
2 47 13 49
A 72 14 50
B 73 15 52
Proposition 0 19 16(50 56
1(3) 5 16(2*9) 57
1(9) 8 17 58
ion 12 Corollary 59
1(2*9) 21 18 62
Corollary 23 Corollary 63
2 28 19 65
Corollary 28 Corollary 66
3(50 30 20 66
f
3(^9) 30 20 67
4 32 21 67
5(r) 32 22 68
5(srg) 33 Corollary 69
6 34 23 71
Corollary 35 24 74
7(2*) 35 25 74
7(7*9) 36 Corollary 76
8(ST) 36 26 78
Corollary 37 27 80
9(50 37 28 81
Corollary 38 29 87
9(2*9) 38 Corollary 88
10(2*) 43 Theorem 1 38
10(2*8) 48 2 45
108
Theorem 3 52
4 54
5 72
6 77
A, B, C 93
D, E, F 94
A', A n, A m 98
Bf, C ', E' 99
DT 101
FT 100
109