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Quadratic path energy is lower semicontinuous

Statement

Assume AC. Let T>0 and give C([0,T];Rd) the uniform topology. Define E(γ)={∫0T∣γ˙(t)∣2dt,γ is absolutely continuous with γ˙∈L2(0,T;Rd),+∞,otherwise. Then E is lower semicontinuous. More precisely, E(γ)=sup⁡0=t0<⋯<tN=T∑i=0N−1∣γ(ti+1)−γ(ti)∣2ti+1−ti, where the supremum is over all finite partitions of [0,T].

Facts & Assumptions

Given: AC, T>0, and a continuous path γ:[0,T]→Rd.

[F1]

Under DC, continuous compactly supported functions are dense in L2(0,T) for Lebesgue measure; uniform continuity approximates each continuous function uniformly by interval-step functions. C_c(X) is dense in L^p(mu) for a Radon measure Radon measure on an LCH space The axiom of dependent choice: a relation in which every element is related to something admits an N-indexed chain

[F2]

The real Hilbert space L2(0,T;Rd) is complete and bounded linear functionals on it have unique Riesz representatives under Countable Choice. Riesz-Fischer completeness of Lp for 1≤p≤∞ Riesz representation for Hilbert spaces The Axiom of Countable Choice (ACω)

Proof

1.1givenF4algebra

For a partition P=(ti)i=0N, write QP(γ)=∑i∣γ(ti+1)−γ(ti)∣2/(ti+1−ti) and set C=sup⁡PQP(γ). If γ is absolutely continuous with square-integrable derivative, Cauchy--Schwarz [F4] on each interval gives QP(γ)≤∫0T∣γ˙∣2dt.

2.1F1givenstep 1.1

Suppose C<∞. On interval-step functions f(t)=ci for ti<t<ti+1 define Λ(f)=∑ici⋅(γ(ti+1)−γ(ti)). Refinement leaves this value unchanged, so the functional is well-defined. Cauchy--Schwarz for the finite sums gives ∣Λ(f)∣≤(∑i∣ci∣2Δti)1/2QP(γ)1/2≤C∥f∥L2. By [F1], interval-step functions are dense in L2, so Λ extends uniquely to a bounded linear functional on the real Hilbert space L2(0,T;Rd).

3.1F2F3step 2.1

By [F2]–[F3], Riesz represents Λ by some u∈L2(0,T;Rd). Taking the step function equal to a fixed vector c on (s,t) and zero elsewhere gives c⋅(γ(t)−γ(s))=∫stc⋅u(r)dr for every c and every interval. Hence γ(t)−γ(s)=∫stu(r)dr. The scalar FTC [F3] coordinatewise shows that γ is absolutely continuous and γ˙=u almost everywhere. Thus E(γ)<∞.

4.1F1step 1.1step 2.1step 3.1∎

For this absolutely continuous path, the functional Λ is integration against γ˙ on interval-step functions. Since those functions are dense, its norm is ∥γ˙∥L2; for each fixed partition the squared norm of the restriction of Λ to step functions constant on its intervals is exactly QP(γ). Taking the supremum over partitions therefore gives C=∥γ˙∥L22=E(γ). Conversely, steps 2.1–3.1 prove that finite C forces finite energy, so if E(γ)=+∞ then C is also infinite. Each QP is continuous in the uniform topology because it uses finitely many point evaluations; their supremum is lower semicontinuous.

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