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in/~cs709/notes/BasicsOfConv
exOptimization.pdf
http://www2.isye.gatech.edu/~nemirovs/Lect_ModConvOpt.pdf
3. Convex functions
basic properties and examples
operations that preserve convexity
the conjugate function
quasiconvex functions
log-concave and log-convex functions
convexity with respect to generalized inequalities
31
Definition
f : Rn R is convex if dom f is a convex set and
f (x + (1 )y) f (x) + (1 )f (y)
for all x, y dom f , 0 1
(y, f (y))
(x, f (x))
f is concave if f is convex
f is strictly convex if dom f is convex and
f (x + (1 )y) < f (x) + (1 )f (y)
for x, y dom f , x 6= y, 0 < < 1
Convex functions
32
Examples on R
convex:
affine: ax + b on R, for any a, b R
exponential: eax, for any a R
powers: x on R++, for 1 or 0
powers of absolute value: |x|p on R, for p 1
negative entropy: x log x on R++
concave:
affine: ax + b on R, for any a, b R
powers: x on R++, for 0 1
logarithm: log x on R++
Convex functions
33
f (X) = tr(A X) + b =
m X
n
X
Aij Xij + b
i=1 j=1
34
dom g = {t | x + tv dom f }
35
Extended-value extension
extended-value extension f of f is
f(x) = f (x),
x dom f,
f(x) = ,
x 6 dom f
First-order condition
f is differentiable if dom f is open and the gradient
f (x) =
f (x) f (x)
f (x)
,
,...,
x1
x2
xn
f (y)
f (x) + f (x)T (y x)
(x, f (x))
37
Second-order conditions
f is twice differentiable if dom f is open and the Hessian 2f (x) Sn,
2f (x)
,
f (x)ij =
xixj
2
i, j = 1, . . . , n,
38
Examples
quadratic function: f (x) = (1/2)xT P x + q T x + r (with P Sn)
2f (x) = P
f (x) = P x + q,
convex if P 0
2f (x) = 2AT A
y
x
y
x
T
f (x, y)
2
f (x, y) = 3
y
2
0
1
0
2
2
0
0 2
Convex functions
39
1
1T z
Pn
k=1 exp xk
diag(z)
is convex
1
(1T z)2
zz T
(zk = exp xk )
P
P
P
since ( k vk zk )2 ( k zk vk2 )( k zk ) (from Cauchy-Schwarz inequality)
Qn
geometric mean: f (x) = ( k=1 xk )1/n on Rn++ is concave
(similar proof as for log-sum-exp)
Convex functions
310
311
Jensens inequality
basic inequality: if f is convex, then for 0 1,
f (x + (1 )y) f (x) + (1 )f (y)
extension: if f is convex, then
f (E z) E f (z)
for any random variable z
basic inequality is special case with discrete distribution
prob(z = x) = ,
Convex functions
prob(z = y) = 1
312
Convex functions
313
m
X
i=1
Convex functions
314
Pointwise maximum
if f1, . . . , fm are convex, then f (x) = max{f1(x), . . . , fm(x)} is convex
examples
piecewise-linear function: f (x) = maxi=1,...,m(aTi x + bi) is convex
sum of r largest components of x Rn:
Convex functions
315
Pointwise supremum
if f (x, y) is convex in x for each y A, then
g(x) = sup f (x, y)
yA
is convex
examples
support function of a set C: SC (x) = supyC y T x is convex
distance to farthest point in a set C:
f (x) = sup kx yk
yC
Convex functions
316
nondecreasing
g convex, h convex, h
nonincreasing
g concave, h convex, h
317
Vector composition
composition of g : Rn Rk and h : Rk R:
f (x) = h(g(x)) = h(g1(x), g2(x), . . . , gk (x))
f is convex if
318
Minimization
if f (x, y) is convex in (x, y) and C is a convex set, then
g(x) = inf f (x, y)
yC
is convex
examples
f (x, y) = xT Ax + 2xT By + y T Cy with
A
BT
B
C
0,
C0
319
Perspective
the perspective of a function f : Rn R is the function g : Rn R R,
g(x, t) = tf (x/t),
g is convex if f is convex
examples
f (x) = xT x is convex; hence g(x, t) = xT x/t is convex for t > 0
negative logarithm f (x) = log x is convex; hence relative entropy
g(x, t) = t log t t log x is convex on R2++
if f is convex, then
g(x) = (cT x + d)f (Ax + b)/(cT x + d)
320
sup (y T x f (x))
xdom f
f (x)
xy
x
(0, f (y))
321
examples
negative logarithm f (x) = log x
f (y) = sup(xy + log x)
x>0
1 log(y) y < 0
otherwise
Convex functions
1 T 1
y Q y
2
322
Quasiconvex functions
f : Rn R is quasiconvex if dom f is convex and the sublevel sets
S = {x dom f | f (x) }
are convex for all
f is quasiconcave if f is quasiconvex
f is quasilinear if it is quasiconvex and quasiconcave
Convex functions
323
Examples
p
|x| is quasiconvex on R
dom f = {x | cT x + d > 0}
is quasilinear
distance ratio
f (x) =
kx ak2
,
kx bk2
is quasiconvex
Convex functions
324
n
X
(1 + r)ixi
i=0
n
X
i=0
(1 + r)ixi 0 for 0 r R
Convex functions
325
Properties
modified Jensen inequality: for quasiconvex f
01
f (x)T (y x) 0
f (x)
326
for 0 1
(2)n det
e 2 (xx)
1 (x
x)
Convex functions
327
f (x, y) dy
328
f (x y)g(y)dy
g(u) =
1 uC
0 u
6 C,
p is pdf of y
Convex functions
329
Convex functions
330
331
http://www.cse.iitb.ac.in/~cs709/notes/eNotes/ExtraPro
blems-1.pdf