(* Title: HOL/Library/Convex.thy
Author: Armin Heller, TU Muenchen
Author: Johannes Hoelzl, TU Muenchen
*)
header {* Convexity in real vector spaces *}
theory Convex
imports Product_Vector
begin
subsection {* Convexity. *}
definition
convex :: "'a::real_vector set \<Rightarrow> bool" where
"convex s \<longleftrightarrow> (\<forall>x\<in>s. \<forall>y\<in>s. \<forall>u\<ge>0. \<forall>v\<ge>0. u + v = 1 \<longrightarrow> u *\<^sub>R x + v *\<^sub>R y \<in> s)"
lemma convex_alt:
"convex s \<longleftrightarrow> (\<forall>x\<in>s. \<forall>y\<in>s. \<forall>u. 0 \<le> u \<and> u \<le> 1 \<longrightarrow> ((1 - u) *\<^sub>R x + u *\<^sub>R y) \<in> s)"
(is "_ \<longleftrightarrow> ?alt")
proof
assume alt[rule_format]: ?alt
{ fix x y and u v :: real assume mem: "x \<in> s" "y \<in> s"
assume "0 \<le> u" "0 \<le> v" "u + v = 1"
moreover hence "u = 1 - v" by auto
ultimately have "u *\<^sub>R x + v *\<^sub>R y \<in> s" using alt[OF mem] by auto }
thus "convex s" unfolding convex_def by auto
qed (auto simp: convex_def)
lemma mem_convex:
assumes "convex s" "a \<in> s" "b \<in> s" "0 \<le> u" "u \<le> 1"
shows "((1 - u) *\<^sub>R a + u *\<^sub>R b) \<in> s"
using assms unfolding convex_alt by auto
lemma convex_empty[intro]: "convex {}"
unfolding convex_def by simp
lemma convex_singleton[intro]: "convex {a}"
unfolding convex_def by (auto simp: scaleR_left_distrib[symmetric])
lemma convex_UNIV[intro]: "convex UNIV"
unfolding convex_def by auto
lemma convex_Inter: "(\<forall>s\<in>f. convex s) ==> convex(\<Inter> f)"
unfolding convex_def by auto
lemma convex_Int: "convex s \<Longrightarrow> convex t \<Longrightarrow> convex (s \<inter> t)"
unfolding convex_def by auto
lemma convex_halfspace_le: "convex {x. inner a x \<le> b}"
unfolding convex_def
by (auto simp: inner_add inner_scaleR intro!: convex_bound_le)
lemma convex_halfspace_ge: "convex {x. inner a x \<ge> b}"
proof -
have *:"{x. inner a x \<ge> b} = {x. inner (-a) x \<le> -b}" by auto
show ?thesis unfolding * using convex_halfspace_le[of "-a" "-b"] by auto
qed
lemma convex_hyperplane: "convex {x. inner a x = b}"
proof-
have *:"{x. inner a x = b} = {x. inner a x \<le> b} \<inter> {x. inner a x \<ge> b}" by auto
show ?thesis using convex_halfspace_le convex_halfspace_ge
by (auto intro!: convex_Int simp: *)
qed
lemma convex_halfspace_lt: "convex {x. inner a x < b}"
unfolding convex_def
by (auto simp: convex_bound_lt inner_add)
lemma convex_halfspace_gt: "convex {x. inner a x > b}"
using convex_halfspace_lt[of "-a" "-b"] by auto
lemma convex_real_interval:
fixes a b :: "real"
shows "convex {a..}" and "convex {..b}"
and "convex {a<..}" and "convex {..<b}"
and "convex {a..b}" and "convex {a<..b}"
and "convex {a..<b}" and "convex {a<..<b}"
proof -
have "{a..} = {x. a \<le> inner 1 x}" by auto
thus 1: "convex {a..}" by (simp only: convex_halfspace_ge)
have "{..b} = {x. inner 1 x \<le> b}" by auto
thus 2: "convex {..b}" by (simp only: convex_halfspace_le)
have "{a<..} = {x. a < inner 1 x}" by auto
thus 3: "convex {a<..}" by (simp only: convex_halfspace_gt)
have "{..<b} = {x. inner 1 x < b}" by auto
thus 4: "convex {..<b}" by (simp only: convex_halfspace_lt)
have "{a..b} = {a..} \<inter> {..b}" by auto
thus "convex {a..b}" by (simp only: convex_Int 1 2)
have "{a<..b} = {a<..} \<inter> {..b}" by auto
thus "convex {a<..b}" by (simp only: convex_Int 3 2)
have "{a..<b} = {a..} \<inter> {..<b}" by auto
thus "convex {a..<b}" by (simp only: convex_Int 1 4)
have "{a<..<b} = {a<..} \<inter> {..<b}" by auto
thus "convex {a<..<b}" by (simp only: convex_Int 3 4)
qed
subsection {* Explicit expressions for convexity in terms of arbitrary sums. *}
lemma convex_setsum:
fixes C :: "'a::real_vector set"
assumes "finite s" and "convex C" and "(\<Sum> i \<in> s. a i) = 1"
assumes "\<And> i. i \<in> s \<Longrightarrow> a i \<ge> 0" and "\<And> i. i \<in> s \<Longrightarrow> y i \<in> C"
shows "(\<Sum> j \<in> s. a j *\<^sub>R y j) \<in> C"
using assms
proof (induct s arbitrary:a rule:finite_induct)
case empty thus ?case by auto
next
case (insert i s) note asms = this
{ assume "a i = 1"
hence "(\<Sum> j \<in> s. a j) = 0"
using asms by auto
hence "\<And> j. j \<in> s \<Longrightarrow> a j = 0"
using setsum_nonneg_0[where 'b=real] asms by fastsimp
hence ?case using asms by auto }
moreover
{ assume asm: "a i \<noteq> 1"
from asms have yai: "y i \<in> C" "a i \<ge> 0" by auto
have fis: "finite (insert i s)" using asms by auto
hence ai1: "a i \<le> 1" using setsum_nonneg_leq_bound[of "insert i s" a 1] asms by simp
hence "a i < 1" using asm by auto
hence i0: "1 - a i > 0" by auto
let "?a j" = "a j / (1 - a i)"
{ fix j assume "j \<in> s"
hence "?a j \<ge> 0"
using i0 asms divide_nonneg_pos
by fastsimp } note a_nonneg = this
have "(\<Sum> j \<in> insert i s. a j) = 1" using asms by auto
hence "(\<Sum> j \<in> s. a j) = 1 - a i" using setsum.insert asms by fastsimp
hence "(\<Sum> j \<in> s. a j) / (1 - a i) = 1" using i0 by auto
hence a1: "(\<Sum> j \<in> s. ?a j) = 1" unfolding divide.setsum by simp
from this asms
have "(\<Sum>j\<in>s. ?a j *\<^sub>R y j) \<in> C" using a_nonneg by fastsimp
hence "a i *\<^sub>R y i + (1 - a i) *\<^sub>R (\<Sum> j \<in> s. ?a j *\<^sub>R y j) \<in> C"
using asms[unfolded convex_def, rule_format] yai ai1 by auto
hence "a i *\<^sub>R y i + (\<Sum> j \<in> s. (1 - a i) *\<^sub>R (?a j *\<^sub>R y j)) \<in> C"
using scaleR_right.setsum[of "(1 - a i)" "\<lambda> j. ?a j *\<^sub>R y j" s] by auto
hence "a i *\<^sub>R y i + (\<Sum> j \<in> s. a j *\<^sub>R y j) \<in> C" using i0 by auto
hence ?case using setsum.insert asms by auto }
ultimately show ?case by auto
qed
lemma convex:
shows "convex s \<longleftrightarrow> (\<forall>(k::nat) u x. (\<forall>i. 1\<le>i \<and> i\<le>k \<longrightarrow> 0 \<le> u i \<and> x i \<in>s) \<and> (setsum u {1..k} = 1)
\<longrightarrow> setsum (\<lambda>i. u i *\<^sub>R x i) {1..k} \<in> s)"
proof safe
fix k :: nat fix u :: "nat \<Rightarrow> real" fix x
assume "convex s"
"\<forall>i. 1 \<le> i \<and> i \<le> k \<longrightarrow> 0 \<le> u i \<and> x i \<in> s"
"setsum u {1..k} = 1"
from this convex_setsum[of "{1 .. k}" s]
show "(\<Sum>j\<in>{1 .. k}. u j *\<^sub>R x j) \<in> s" by auto
next
assume asm: "\<forall>k u x. (\<forall> i :: nat. 1 \<le> i \<and> i \<le> k \<longrightarrow> 0 \<le> u i \<and> x i \<in> s) \<and> setsum u {1..k} = 1
\<longrightarrow> (\<Sum>i = 1..k. u i *\<^sub>R (x i :: 'a)) \<in> s"
{ fix \<mu> :: real fix x y :: 'a assume xy: "x \<in> s" "y \<in> s" assume mu: "\<mu> \<ge> 0" "\<mu> \<le> 1"
let "?u i" = "if (i :: nat) = 1 then \<mu> else 1 - \<mu>"
let "?x i" = "if (i :: nat) = 1 then x else y"
have "{1 :: nat .. 2} \<inter> - {x. x = 1} = {2}" by auto
hence card: "card ({1 :: nat .. 2} \<inter> - {x. x = 1}) = 1" by simp
hence "setsum ?u {1 .. 2} = 1"
using setsum_cases[of "{(1 :: nat) .. 2}" "\<lambda> x. x = 1" "\<lambda> x. \<mu>" "\<lambda> x. 1 - \<mu>"]
by auto
from this asm[rule_format, of "2" ?u ?x]
have s: "(\<Sum>j \<in> {1..2}. ?u j *\<^sub>R ?x j) \<in> s"
using mu xy by auto
have grarr: "(\<Sum>j \<in> {Suc (Suc 0)..2}. ?u j *\<^sub>R ?x j) = (1 - \<mu>) *\<^sub>R y"
using setsum_head_Suc[of "Suc (Suc 0)" 2 "\<lambda> j. (1 - \<mu>) *\<^sub>R y"] by auto
from setsum_head_Suc[of "Suc 0" 2 "\<lambda> j. ?u j *\<^sub>R ?x j", simplified this]
have "(\<Sum>j \<in> {1..2}. ?u j *\<^sub>R ?x j) = \<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y" by auto
hence "(1 - \<mu>) *\<^sub>R y + \<mu> *\<^sub>R x \<in> s" using s by (auto simp:add_commute) }
thus "convex s" unfolding convex_alt by auto
qed
lemma convex_explicit:
fixes s :: "'a::real_vector set"
shows "convex s \<longleftrightarrow>
(\<forall>t u. finite t \<and> t \<subseteq> s \<and> (\<forall>x\<in>t. 0 \<le> u x) \<and> setsum u t = 1 \<longrightarrow> setsum (\<lambda>x. u x *\<^sub>R x) t \<in> s)"
proof safe
fix t fix u :: "'a \<Rightarrow> real"
assume "convex s" "finite t"
"t \<subseteq> s" "\<forall>x\<in>t. 0 \<le> u x" "setsum u t = 1"
thus "(\<Sum>x\<in>t. u x *\<^sub>R x) \<in> s"
using convex_setsum[of t s u "\<lambda> x. x"] by auto
next
assume asm0: "\<forall>t. \<forall> u. finite t \<and> t \<subseteq> s \<and> (\<forall>x\<in>t. 0 \<le> u x)
\<and> setsum u t = 1 \<longrightarrow> (\<Sum>x\<in>t. u x *\<^sub>R x) \<in> s"
show "convex s"
unfolding convex_alt
proof safe
fix x y fix \<mu> :: real
assume asm: "x \<in> s" "y \<in> s" "0 \<le> \<mu>" "\<mu> \<le> 1"
{ assume "x \<noteq> y"
hence "(1 - \<mu>) *\<^sub>R x + \<mu> *\<^sub>R y \<in> s"
using asm0[rule_format, of "{x, y}" "\<lambda> z. if z = x then 1 - \<mu> else \<mu>"]
asm by auto }
moreover
{ assume "x = y"
hence "(1 - \<mu>) *\<^sub>R x + \<mu> *\<^sub>R y \<in> s"
using asm0[rule_format, of "{x, y}" "\<lambda> z. 1"]
asm by (auto simp:field_simps real_vector.scale_left_diff_distrib) }
ultimately show "(1 - \<mu>) *\<^sub>R x + \<mu> *\<^sub>R y \<in> s" by blast
qed
qed
lemma convex_finite: assumes "finite s"
shows "convex s \<longleftrightarrow> (\<forall>u. (\<forall>x\<in>s. 0 \<le> u x) \<and> setsum u s = 1
\<longrightarrow> setsum (\<lambda>x. u x *\<^sub>R x) s \<in> s)"
unfolding convex_explicit
proof (safe elim!: conjE)
fix t u assume sum: "\<forall>u. (\<forall>x\<in>s. 0 \<le> u x) \<and> setsum u s = 1 \<longrightarrow> (\<Sum>x\<in>s. u x *\<^sub>R x) \<in> s"
and as: "finite t" "t \<subseteq> s" "\<forall>x\<in>t. 0 \<le> u x" "setsum u t = (1::real)"
have *:"s \<inter> t = t" using as(2) by auto
have if_distrib_arg: "\<And>P f g x. (if P then f else g) x = (if P then f x else g x)" by simp
show "(\<Sum>x\<in>t. u x *\<^sub>R x) \<in> s"
using sum[THEN spec[where x="\<lambda>x. if x\<in>t then u x else 0"]] as *
by (auto simp: assms setsum_cases if_distrib if_distrib_arg)
qed (erule_tac x=s in allE, erule_tac x=u in allE, auto)
definition
convex_on :: "'a::real_vector set \<Rightarrow> ('a \<Rightarrow> real) \<Rightarrow> bool" where
"convex_on s f \<longleftrightarrow>
(\<forall>x\<in>s. \<forall>y\<in>s. \<forall>u\<ge>0. \<forall>v\<ge>0. u + v = 1 \<longrightarrow> f (u *\<^sub>R x + v *\<^sub>R y) \<le> u * f x + v * f y)"
lemma convex_on_subset: "convex_on t f \<Longrightarrow> s \<subseteq> t \<Longrightarrow> convex_on s f"
unfolding convex_on_def by auto
lemma convex_add[intro]:
assumes "convex_on s f" "convex_on s g"
shows "convex_on s (\<lambda>x. f x + g x)"
proof-
{ fix x y assume "x\<in>s" "y\<in>s" moreover
fix u v ::real assume "0 \<le> u" "0 \<le> v" "u + v = 1"
ultimately have "f (u *\<^sub>R x + v *\<^sub>R y) + g (u *\<^sub>R x + v *\<^sub>R y) \<le> (u * f x + v * f y) + (u * g x + v * g y)"
using assms unfolding convex_on_def by (auto simp add:add_mono)
hence "f (u *\<^sub>R x + v *\<^sub>R y) + g (u *\<^sub>R x + v *\<^sub>R y) \<le> u * (f x + g x) + v * (f y + g y)" by (simp add: field_simps) }
thus ?thesis unfolding convex_on_def by auto
qed
lemma convex_cmul[intro]:
assumes "0 \<le> (c::real)" "convex_on s f"
shows "convex_on s (\<lambda>x. c * f x)"
proof-
have *:"\<And>u c fx v fy ::real. u * (c * fx) + v * (c * fy) = c * (u * fx + v * fy)" by (simp add: field_simps)
show ?thesis using assms(2) and mult_mono1[OF _ assms(1)] unfolding convex_on_def and * by auto
qed
lemma convex_lower:
assumes "convex_on s f" "x\<in>s" "y \<in> s" "0 \<le> u" "0 \<le> v" "u + v = 1"
shows "f (u *\<^sub>R x + v *\<^sub>R y) \<le> max (f x) (f y)"
proof-
let ?m = "max (f x) (f y)"
have "u * f x + v * f y \<le> u * max (f x) (f y) + v * max (f x) (f y)"
using assms(4,5) by(auto simp add: mult_mono1 add_mono)
also have "\<dots> = max (f x) (f y)" using assms(6) unfolding distrib[THEN sym] by auto
finally show ?thesis
using assms unfolding convex_on_def by fastsimp
qed
lemma convex_distance[intro]:
fixes s :: "'a::real_normed_vector set"
shows "convex_on s (\<lambda>x. dist a x)"
proof(auto simp add: convex_on_def dist_norm)
fix x y assume "x\<in>s" "y\<in>s"
fix u v ::real assume "0 \<le> u" "0 \<le> v" "u + v = 1"
have "a = u *\<^sub>R a + v *\<^sub>R a" unfolding scaleR_left_distrib[THEN sym] and `u+v=1` by simp
hence *:"a - (u *\<^sub>R x + v *\<^sub>R y) = (u *\<^sub>R (a - x)) + (v *\<^sub>R (a - y))"
by (auto simp add: algebra_simps)
show "norm (a - (u *\<^sub>R x + v *\<^sub>R y)) \<le> u * norm (a - x) + v * norm (a - y)"
unfolding * using norm_triangle_ineq[of "u *\<^sub>R (a - x)" "v *\<^sub>R (a - y)"]
using `0 \<le> u` `0 \<le> v` by auto
qed
subsection {* Arithmetic operations on sets preserve convexity. *}
lemma convex_scaling:
assumes "convex s"
shows"convex ((\<lambda>x. c *\<^sub>R x) ` s)"
using assms unfolding convex_def image_iff
proof safe
fix x xa y xb :: "'a::real_vector" fix u v :: real
assume asm: "\<forall>x\<in>s. \<forall>y\<in>s. \<forall>u\<ge>0. \<forall>v\<ge>0. u + v = 1 \<longrightarrow> u *\<^sub>R x + v *\<^sub>R y \<in> s"
"xa \<in> s" "xb \<in> s" "0 \<le> u" "0 \<le> v" "u + v = 1"
show "\<exists>x\<in>s. u *\<^sub>R c *\<^sub>R xa + v *\<^sub>R c *\<^sub>R xb = c *\<^sub>R x"
using bexI[of _ "u *\<^sub>R xa +v *\<^sub>R xb"] asm by (auto simp add: algebra_simps)
qed
lemma convex_negations: "convex s \<Longrightarrow> convex ((\<lambda>x. -x)` s)"
using assms unfolding convex_def image_iff
proof safe
fix x xa y xb :: "'a::real_vector" fix u v :: real
assume asm: "\<forall>x\<in>s. \<forall>y\<in>s. \<forall>u\<ge>0. \<forall>v\<ge>0. u + v = 1 \<longrightarrow> u *\<^sub>R x + v *\<^sub>R y \<in> s"
"xa \<in> s" "xb \<in> s" "0 \<le> u" "0 \<le> v" "u + v = 1"
show "\<exists>x\<in>s. u *\<^sub>R - xa + v *\<^sub>R - xb = - x"
using bexI[of _ "u *\<^sub>R xa +v *\<^sub>R xb"] asm by auto
qed
lemma convex_sums:
assumes "convex s" "convex t"
shows "convex {x + y| x y. x \<in> s \<and> y \<in> t}"
using assms unfolding convex_def image_iff
proof safe
fix xa xb ya yb assume xy:"xa\<in>s" "xb\<in>s" "ya\<in>t" "yb\<in>t"
fix u v ::real assume uv:"0 \<le> u" "0 \<le> v" "u + v = 1"
show "\<exists>x y. u *\<^sub>R (xa + ya) + v *\<^sub>R (xb + yb) = x + y \<and> x \<in> s \<and> y \<in> t"
using exI[of _ "u *\<^sub>R xa + v *\<^sub>R xb"] exI[of _ "u *\<^sub>R ya + v *\<^sub>R yb"]
assms[unfolded convex_def] uv xy by (auto simp add:scaleR_right_distrib)
qed
lemma convex_differences:
assumes "convex s" "convex t"
shows "convex {x - y| x y. x \<in> s \<and> y \<in> t}"
proof -
have "{x - y| x y. x \<in> s \<and> y \<in> t} = {x + y |x y. x \<in> s \<and> y \<in> uminus ` t}"
proof safe
fix x x' y assume "x' \<in> s" "y \<in> t"
thus "\<exists>x y'. x' - y = x + y' \<and> x \<in> s \<and> y' \<in> uminus ` t"
using exI[of _ x'] exI[of _ "-y"] by auto
next
fix x x' y y' assume "x' \<in> s" "y' \<in> t"
thus "\<exists>x y. x' + - y' = x - y \<and> x \<in> s \<and> y \<in> t"
using exI[of _ x'] exI[of _ y'] by auto
qed
thus ?thesis using convex_sums[OF assms(1) convex_negations[OF assms(2)]] by auto
qed
lemma convex_translation: assumes "convex s" shows "convex ((\<lambda>x. a + x) ` s)"
proof- have "{a + y |y. y \<in> s} = (\<lambda>x. a + x) ` s" by auto
thus ?thesis using convex_sums[OF convex_singleton[of a] assms] by auto qed
lemma convex_affinity: assumes "convex s" shows "convex ((\<lambda>x. a + c *\<^sub>R x) ` s)"
proof- have "(\<lambda>x. a + c *\<^sub>R x) ` s = op + a ` op *\<^sub>R c ` s" by auto
thus ?thesis using convex_translation[OF convex_scaling[OF assms], of a c] by auto qed
lemma convex_linear_image:
assumes c:"convex s" and l:"bounded_linear f"
shows "convex(f ` s)"
proof(auto simp add: convex_def)
interpret f: bounded_linear f by fact
fix x y assume xy:"x \<in> s" "y \<in> s"
fix u v ::real assume uv:"0 \<le> u" "0 \<le> v" "u + v = 1"
show "u *\<^sub>R f x + v *\<^sub>R f y \<in> f ` s" unfolding image_iff
using bexI[of _ "u *\<^sub>R x + v *\<^sub>R y"] f.add f.scaleR
c[unfolded convex_def] xy uv by auto
qed
lemma pos_is_convex:
shows "convex {0 :: real <..}"
unfolding convex_alt
proof safe
fix y x \<mu> :: real
assume asms: "y > 0" "x > 0" "\<mu> \<ge> 0" "\<mu> \<le> 1"
{ assume "\<mu> = 0"
hence "\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y = y" by simp
hence "\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y > 0" using asms by simp }
moreover
{ assume "\<mu> = 1"
hence "\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y > 0" using asms by simp }
moreover
{ assume "\<mu> \<noteq> 1" "\<mu> \<noteq> 0"
hence "\<mu> > 0" "(1 - \<mu>) > 0" using asms by auto
hence "\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y > 0" using asms
using add_nonneg_pos[of "\<mu> *\<^sub>R x" "(1 - \<mu>) *\<^sub>R y"]
real_mult_order by auto fastsimp }
ultimately show "(1 - \<mu>) *\<^sub>R y + \<mu> *\<^sub>R x > 0" using assms by fastsimp
qed
lemma convex_on_setsum:
fixes a :: "'a \<Rightarrow> real"
fixes y :: "'a \<Rightarrow> 'b::real_vector"
fixes f :: "'b \<Rightarrow> real"
assumes "finite s" "s \<noteq> {}"
assumes "convex_on C f"
assumes "convex C"
assumes "(\<Sum> i \<in> s. a i) = 1"
assumes "\<And> i. i \<in> s \<Longrightarrow> a i \<ge> 0"
assumes "\<And> i. i \<in> s \<Longrightarrow> y i \<in> C"
shows "f (\<Sum> i \<in> s. a i *\<^sub>R y i) \<le> (\<Sum> i \<in> s. a i * f (y i))"
using assms
proof (induct s arbitrary:a rule:finite_ne_induct)
case (singleton i)
hence ai: "a i = 1" by auto
thus ?case by auto
next
case (insert i s) note asms = this
hence "convex_on C f" by simp
from this[unfolded convex_on_def, rule_format]
have conv: "\<And> x y \<mu>. \<lbrakk>x \<in> C; y \<in> C; 0 \<le> \<mu>; \<mu> \<le> 1\<rbrakk>
\<Longrightarrow> f (\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y) \<le> \<mu> * f x + (1 - \<mu>) * f y"
by simp
{ assume "a i = 1"
hence "(\<Sum> j \<in> s. a j) = 0"
using asms by auto
hence "\<And> j. j \<in> s \<Longrightarrow> a j = 0"
using setsum_nonneg_0[where 'b=real] asms by fastsimp
hence ?case using asms by auto }
moreover
{ assume asm: "a i \<noteq> 1"
from asms have yai: "y i \<in> C" "a i \<ge> 0" by auto
have fis: "finite (insert i s)" using asms by auto
hence ai1: "a i \<le> 1" using setsum_nonneg_leq_bound[of "insert i s" a] asms by simp
hence "a i < 1" using asm by auto
hence i0: "1 - a i > 0" by auto
let "?a j" = "a j / (1 - a i)"
{ fix j assume "j \<in> s"
hence "?a j \<ge> 0"
using i0 asms divide_nonneg_pos
by fastsimp } note a_nonneg = this
have "(\<Sum> j \<in> insert i s. a j) = 1" using asms by auto
hence "(\<Sum> j \<in> s. a j) = 1 - a i" using setsum.insert asms by fastsimp
hence "(\<Sum> j \<in> s. a j) / (1 - a i) = 1" using i0 by auto
hence a1: "(\<Sum> j \<in> s. ?a j) = 1" unfolding divide.setsum by simp
have "convex C" using asms by auto
hence asum: "(\<Sum> j \<in> s. ?a j *\<^sub>R y j) \<in> C"
using asms convex_setsum[OF `finite s`
`convex C` a1 a_nonneg] by auto
have asum_le: "f (\<Sum> j \<in> s. ?a j *\<^sub>R y j) \<le> (\<Sum> j \<in> s. ?a j * f (y j))"
using a_nonneg a1 asms by blast
have "f (\<Sum> j \<in> insert i s. a j *\<^sub>R y j) = f ((\<Sum> j \<in> s. a j *\<^sub>R y j) + a i *\<^sub>R y i)"
using setsum.insert[of s i "\<lambda> j. a j *\<^sub>R y j", OF `finite s` `i \<notin> s`] asms
by (auto simp only:add_commute)
also have "\<dots> = f (((1 - a i) * inverse (1 - a i)) *\<^sub>R (\<Sum> j \<in> s. a j *\<^sub>R y j) + a i *\<^sub>R y i)"
using i0 by auto
also have "\<dots> = f ((1 - a i) *\<^sub>R (\<Sum> j \<in> s. (a j * inverse (1 - a i)) *\<^sub>R y j) + a i *\<^sub>R y i)"
using scaleR_right.setsum[of "inverse (1 - a i)" "\<lambda> j. a j *\<^sub>R y j" s, symmetric] by (auto simp:algebra_simps)
also have "\<dots> = f ((1 - a i) *\<^sub>R (\<Sum> j \<in> s. ?a j *\<^sub>R y j) + a i *\<^sub>R y i)"
by (auto simp:real_divide_def)
also have "\<dots> \<le> (1 - a i) *\<^sub>R f ((\<Sum> j \<in> s. ?a j *\<^sub>R y j)) + a i * f (y i)"
using conv[of "y i" "(\<Sum> j \<in> s. ?a j *\<^sub>R y j)" "a i", OF yai(1) asum yai(2) ai1]
by (auto simp add:add_commute)
also have "\<dots> \<le> (1 - a i) * (\<Sum> j \<in> s. ?a j * f (y j)) + a i * f (y i)"
using add_right_mono[OF mult_left_mono[of _ _ "1 - a i",
OF asum_le less_imp_le[OF i0]], of "a i * f (y i)"] by simp
also have "\<dots> = (\<Sum> j \<in> s. (1 - a i) * ?a j * f (y j)) + a i * f (y i)"
unfolding mult_right.setsum[of "1 - a i" "\<lambda> j. ?a j * f (y j)"] using i0 by auto
also have "\<dots> = (\<Sum> j \<in> s. a j * f (y j)) + a i * f (y i)" using i0 by auto
also have "\<dots> = (\<Sum> j \<in> insert i s. a j * f (y j))" using asms by auto
finally have "f (\<Sum> j \<in> insert i s. a j *\<^sub>R y j) \<le> (\<Sum> j \<in> insert i s. a j * f (y j))"
by simp }
ultimately show ?case by auto
qed
lemma convex_on_alt:
fixes C :: "'a::real_vector set"
assumes "convex C"
shows "convex_on C f =
(\<forall> x \<in> C. \<forall> y \<in> C. \<forall> \<mu> :: real. \<mu> \<ge> 0 \<and> \<mu> \<le> 1
\<longrightarrow> f (\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y) \<le> \<mu> * f x + (1 - \<mu>) * f y)"
proof safe
fix x y fix \<mu> :: real
assume asms: "convex_on C f" "x \<in> C" "y \<in> C" "0 \<le> \<mu>" "\<mu> \<le> 1"
from this[unfolded convex_on_def, rule_format]
have "\<And> u v. \<lbrakk>0 \<le> u; 0 \<le> v; u + v = 1\<rbrakk> \<Longrightarrow> f (u *\<^sub>R x + v *\<^sub>R y) \<le> u * f x + v * f y" by auto
from this[of "\<mu>" "1 - \<mu>", simplified] asms
show "f (\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y)
\<le> \<mu> * f x + (1 - \<mu>) * f y" by auto
next
assume asm: "\<forall>x\<in>C. \<forall>y\<in>C. \<forall>\<mu>. 0 \<le> \<mu> \<and> \<mu> \<le> 1 \<longrightarrow> f (\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y) \<le> \<mu> * f x + (1 - \<mu>) * f y"
{fix x y fix u v :: real
assume lasm: "x \<in> C" "y \<in> C" "u \<ge> 0" "v \<ge> 0" "u + v = 1"
hence[simp]: "1 - u = v" by auto
from asm[rule_format, of x y u]
have "f (u *\<^sub>R x + v *\<^sub>R y) \<le> u * f x + v * f y" using lasm by auto }
thus "convex_on C f" unfolding convex_on_def by auto
qed
lemma pos_convex_function:
fixes f :: "real \<Rightarrow> real"
assumes "convex C"
assumes leq: "\<And> x y. \<lbrakk>x \<in> C ; y \<in> C\<rbrakk> \<Longrightarrow> f' x * (y - x) \<le> f y - f x"
shows "convex_on C f"
unfolding convex_on_alt[OF assms(1)]
using assms
proof safe
fix x y \<mu> :: real
let ?x = "\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y"
assume asm: "convex C" "x \<in> C" "y \<in> C" "\<mu> \<ge> 0" "\<mu> \<le> 1"
hence "1 - \<mu> \<ge> 0" by auto
hence xpos: "?x \<in> C" using asm unfolding convex_alt by fastsimp
have geq: "\<mu> * (f x - f ?x) + (1 - \<mu>) * (f y - f ?x)
\<ge> \<mu> * f' ?x * (x - ?x) + (1 - \<mu>) * f' ?x * (y - ?x)"
using add_mono[OF mult_mono1[OF leq[OF xpos asm(2)] `\<mu> \<ge> 0`]
mult_mono1[OF leq[OF xpos asm(3)] `1 - \<mu> \<ge> 0`]] by auto
hence "\<mu> * f x + (1 - \<mu>) * f y - f ?x \<ge> 0"
by (auto simp add:field_simps)
thus "f (\<mu> *\<^sub>R x + (1 - \<mu>) *\<^sub>R y) \<le> \<mu> * f x + (1 - \<mu>) * f y"
using convex_on_alt by auto
qed
lemma atMostAtLeast_subset_convex:
fixes C :: "real set"
assumes "convex C"
assumes "x \<in> C" "y \<in> C" "x < y"
shows "{x .. y} \<subseteq> C"
proof safe
fix z assume zasm: "z \<in> {x .. y}"
{ assume asm: "x < z" "z < y"
let "?\<mu>" = "(y - z) / (y - x)"
have "0 \<le> ?\<mu>" "?\<mu> \<le> 1" using assms asm by (auto simp add:field_simps)
hence comb: "?\<mu> * x + (1 - ?\<mu>) * y \<in> C"
using assms iffD1[OF convex_alt, rule_format, of C y x ?\<mu>] by (simp add:algebra_simps)
have "?\<mu> * x + (1 - ?\<mu>) * y = (y - z) * x / (y - x) + (1 - (y - z) / (y - x)) * y"
by (auto simp add:field_simps)
also have "\<dots> = ((y - z) * x + (y - x - (y - z)) * y) / (y - x)"
using assms unfolding add_divide_distrib by (auto simp:field_simps)
also have "\<dots> = z"
using assms by (auto simp:field_simps)
finally have "z \<in> C"
using comb by auto } note less = this
show "z \<in> C" using zasm less assms
unfolding atLeastAtMost_iff le_less by auto
qed
lemma f''_imp_f':
fixes f :: "real \<Rightarrow> real"
assumes "convex C"
assumes f': "\<And> x. x \<in> C \<Longrightarrow> DERIV f x :> (f' x)"
assumes f'': "\<And> x. x \<in> C \<Longrightarrow> DERIV f' x :> (f'' x)"
assumes pos: "\<And> x. x \<in> C \<Longrightarrow> f'' x \<ge> 0"
assumes "x \<in> C" "y \<in> C"
shows "f' x * (y - x) \<le> f y - f x"
using assms
proof -
{ fix x y :: real assume asm: "x \<in> C" "y \<in> C" "y > x"
hence ge: "y - x > 0" "y - x \<ge> 0" by auto
from asm have le: "x - y < 0" "x - y \<le> 0" by auto
then obtain z1 where z1: "z1 > x" "z1 < y" "f y - f x = (y - x) * f' z1"
using subsetD[OF atMostAtLeast_subset_convex[OF `convex C` `x \<in> C` `y \<in> C` `x < y`],
THEN f', THEN MVT2[OF `x < y`, rule_format, unfolded atLeastAtMost_iff[symmetric]]]
by auto
hence "z1 \<in> C" using atMostAtLeast_subset_convex
`convex C` `x \<in> C` `y \<in> C` `x < y` by fastsimp
from z1 have z1': "f x - f y = (x - y) * f' z1"
by (simp add:field_simps)
obtain z2 where z2: "z2 > x" "z2 < z1" "f' z1 - f' x = (z1 - x) * f'' z2"
using subsetD[OF atMostAtLeast_subset_convex[OF `convex C` `x \<in> C` `z1 \<in> C` `x < z1`],
THEN f'', THEN MVT2[OF `x < z1`, rule_format, unfolded atLeastAtMost_iff[symmetric]]] z1
by auto
obtain z3 where z3: "z3 > z1" "z3 < y" "f' y - f' z1 = (y - z1) * f'' z3"
using subsetD[OF atMostAtLeast_subset_convex[OF `convex C` `z1 \<in> C` `y \<in> C` `z1 < y`],
THEN f'', THEN MVT2[OF `z1 < y`, rule_format, unfolded atLeastAtMost_iff[symmetric]]] z1
by auto
have "f' y - (f x - f y) / (x - y) = f' y - f' z1"
using asm z1' by auto
also have "\<dots> = (y - z1) * f'' z3" using z3 by auto
finally have cool': "f' y - (f x - f y) / (x - y) = (y - z1) * f'' z3" by simp
have A': "y - z1 \<ge> 0" using z1 by auto
have "z3 \<in> C" using z3 asm atMostAtLeast_subset_convex
`convex C` `x \<in> C` `z1 \<in> C` `x < z1` by fastsimp
hence B': "f'' z3 \<ge> 0" using assms by auto
from A' B' have "(y - z1) * f'' z3 \<ge> 0" using mult_nonneg_nonneg by auto
from cool' this have "f' y - (f x - f y) / (x - y) \<ge> 0" by auto
from mult_right_mono_neg[OF this le(2)]
have "f' y * (x - y) - (f x - f y) / (x - y) * (x - y) \<le> 0 * (x - y)"
unfolding diff_def using real_add_mult_distrib by auto
hence "f' y * (x - y) - (f x - f y) \<le> 0" using le by auto
hence res: "f' y * (x - y) \<le> f x - f y" by auto
have "(f y - f x) / (y - x) - f' x = f' z1 - f' x"
using asm z1 by auto
also have "\<dots> = (z1 - x) * f'' z2" using z2 by auto
finally have cool: "(f y - f x) / (y - x) - f' x = (z1 - x) * f'' z2" by simp
have A: "z1 - x \<ge> 0" using z1 by auto
have "z2 \<in> C" using z2 z1 asm atMostAtLeast_subset_convex
`convex C` `z1 \<in> C` `y \<in> C` `z1 < y` by fastsimp
hence B: "f'' z2 \<ge> 0" using assms by auto
from A B have "(z1 - x) * f'' z2 \<ge> 0" using mult_nonneg_nonneg by auto
from cool this have "(f y - f x) / (y - x) - f' x \<ge> 0" by auto
from mult_right_mono[OF this ge(2)]
have "(f y - f x) / (y - x) * (y - x) - f' x * (y - x) \<ge> 0 * (y - x)"
unfolding diff_def using real_add_mult_distrib by auto
hence "f y - f x - f' x * (y - x) \<ge> 0" using ge by auto
hence "f y - f x \<ge> f' x * (y - x)" "f' y * (x - y) \<le> f x - f y"
using res by auto } note less_imp = this
{ fix x y :: real assume "x \<in> C" "y \<in> C" "x \<noteq> y"
hence"f y - f x \<ge> f' x * (y - x)"
unfolding neq_iff using less_imp by auto } note neq_imp = this
moreover
{ fix x y :: real assume asm: "x \<in> C" "y \<in> C" "x = y"
hence "f y - f x \<ge> f' x * (y - x)" by auto }
ultimately show ?thesis using assms by blast
qed
lemma f''_ge0_imp_convex:
fixes f :: "real \<Rightarrow> real"
assumes conv: "convex C"
assumes f': "\<And> x. x \<in> C \<Longrightarrow> DERIV f x :> (f' x)"
assumes f'': "\<And> x. x \<in> C \<Longrightarrow> DERIV f' x :> (f'' x)"
assumes pos: "\<And> x. x \<in> C \<Longrightarrow> f'' x \<ge> 0"
shows "convex_on C f"
using f''_imp_f'[OF conv f' f'' pos] assms pos_convex_function by fastsimp
lemma minus_log_convex:
fixes b :: real
assumes "b > 1"
shows "convex_on {0 <..} (\<lambda> x. - log b x)"
proof -
have "\<And> z. z > 0 \<Longrightarrow> DERIV (log b) z :> 1 / (ln b * z)" using DERIV_log by auto
hence f': "\<And> z. z > 0 \<Longrightarrow> DERIV (\<lambda> z. - log b z) z :> - 1 / (ln b * z)"
using DERIV_minus by auto
have "\<And> z :: real. z > 0 \<Longrightarrow> DERIV inverse z :> - (inverse z ^ Suc (Suc 0))"
using less_imp_neq[THEN not_sym, THEN DERIV_inverse] by auto
from this[THEN DERIV_cmult, of _ "- 1 / ln b"]
have "\<And> z :: real. z > 0 \<Longrightarrow> DERIV (\<lambda> z. (- 1 / ln b) * inverse z) z :> (- 1 / ln b) * (- (inverse z ^ Suc (Suc 0)))"
by auto
hence f''0: "\<And> z :: real. z > 0 \<Longrightarrow> DERIV (\<lambda> z. - 1 / (ln b * z)) z :> 1 / (ln b * z * z)"
unfolding inverse_eq_divide by (auto simp add:real_mult_assoc)
have f''_ge0: "\<And> z :: real. z > 0 \<Longrightarrow> 1 / (ln b * z * z) \<ge> 0"
using `b > 1` by (auto intro!:less_imp_le simp add:divide_pos_pos[of 1] real_mult_order)
from f''_ge0_imp_convex[OF pos_is_convex,
unfolded greaterThan_iff, OF f' f''0 f''_ge0]
show ?thesis by auto
qed
end