Convex analysis

Convex analysis is the branch of mathematics devoted to the study of properties of convex functions and convex sets, often with applications in convex minimization, a subdomain of optimization theory.

Convex sets
A subset $$C \subseteq X$$ of some vector space $$X$$ is if it satisfies any of the following equivalent conditions:
 * 1) If $$0 \leq r \leq 1$$ is real and $$x, y \in C$$ then $$r x + (1 - r) y \in C.$$
 * 2) If $$0 < r < 1$$ is real and $$x, y \in C$$ with $$x \neq y,$$ then $$r x + (1 - r) y \in C.$$

Throughout, $$f : X \to [-\infty, \infty]$$ will be a map valued in the extended real numbers $$[-\infty, \infty] = \mathbb{R} \cup \{ \pm \infty \}$$ with a domain $$\operatorname{domain} f = X$$ that is a convex subset of some vector space. The map $$f : X \to [-\infty, \infty]$$ is a  if

holds for any real $$0 < r < 1$$ and any $$x, y \in X$$ with $$x \neq y.$$ If this remains true of $$f$$ when the defining inequality ($$) is replaced by the strict inequality

then $$f$$ is called .

Convex functions are related to convex sets. Specifically, the function $$f$$ is convex if and only if its 

is a convex set. The epigraphs of extended real-valued functions play a role in convex analysis that is analogous to the role played by graphs of real-valued function in real analysis. Specifically, the epigraph of an extended real-valued function provides geometric intuition that can be used to help formula or prove conjectures.

The domain of a function $$f : X \to [-\infty, \infty]$$ is denoted by $$\operatorname{domain} f$$ while its  is the set

The function $$f : X \to [-\infty, \infty]$$ is called  if $$\operatorname{dom} f \neq \varnothing$$ and $$f(x) > -\infty$$ for $$x \in \operatorname{domain} f.$$ Alternatively, this means that there exists some $$x$$ in the domain of $$f$$ at which $$f(x) \in \mathbb{R}$$ and $$f$$ is also  equal to $$-\infty.$$ In words, a function is  if its domain is not empty, it never takes on the value $$-\infty,$$ and it also is not identically equal to $$+\infty.$$ If $$f : \mathbb{R}^n \to [-\infty, \infty]$$ is a proper convex function then there exist some vector $$b \in \mathbb{R}^n$$ and some $$r \in \mathbb{R}$$ such that
 * $$f(x) \geq x \cdot b - r$$ for every $$x$$

where $$x \cdot b$$ denotes the dot product of these vectors.

Convex conjugate
The of an extended real-valued function $$f : X \to [-\infty, \infty]$$ (not necessarily convex) is the function $$f^* : X^* \to [-\infty, \infty]$$ from the (continuous) dual space $$X^*$$ of $$X,$$ and


 * $$f^*\left(x^*\right) = \sup_{z \in X} \left\{ \left\langle x^*, z \right\rangle - f(z) \right\}$$

where the brackets $$\left\langle \cdot, \cdot \right\rangle$$ denote the canonical duality $$\left\langle x^*, z \right\rangle := x^*(z).$$ The of $$f$$ is the map $$f^{**} = \left( f^* \right)^* : X \to [-\infty, \infty]$$ defined by $$f^{**}(x) := \sup_{z^* \in X^*} \left\{ \left\langle x, z^* \right\rangle - f\left( z^* \right) \right\}$$ for every $$x \in X.$$ If $$\operatorname{Func}(X; Y)$$ denotes the set of $$Y$$-valued functions on $$X,$$ then the map $$\operatorname{Func}(X; [-\infty, \infty]) \to \operatorname{Func}\left( X^*; [-\infty, \infty] \right)$$ defined by $$f \mapsto f^*$$ is called the.

Subdifferential set and the Fenchel-Young inequality
If $$f : X \to [-\infty, \infty]$$ and $$x \in X$$ then the is



\begin{alignat}{4} \partial f(x)
 * &= \left\{ x^* \in X^* ~:~ f(z) \geq f(x) + \left\langle x^*, z - x \right\rangle \text{ for all } z \in X \right\} && (\text{“} z \in X \text{} \text{ can be replaced with: } \text{“} z \in X \text{ such that } z \neq x \text{}) \\

&= \left\{ x^* \in X^* ~:~ \left\langle x^*, x \right\rangle - f(x) \geq \left\langle x^*, z \right\rangle - f(z) \text{ for all } z \in X \right\} && \\ &= \left\{ x^* \in X^* ~:~ \left\langle x^*, x \right\rangle - f(x) \geq \sup_{z \in X} \left\langle x^*, z \right\rangle - f(z) \right\} && \text{ The right hand side is } f^*\left( x^* \right) \\ &= \left\{ x^* \in X^* ~:~ \left\langle x^*, x \right\rangle - f(x) = f^*\left( x^* \right) \right\} && \text{ Taking } z := x \text{ in the } \sup{} \text{ gives the inequality } \leq. \\ \end{alignat} $$

For example, in the important special case where $$f = \| \cdot \|$$ is a norm on $$X$$, it can be shown that if $$0 \neq x \in X$$ then this definition reduces down to:


 * $$\partial f (x) = \left\{ x^* \in X^* ~:~ \left\langle x^*, x \right\rangle = \| x \| \text{ and } \left\| x^* \right\| = 1 \right\}$$ and $$\partial f(0) = \left\{ x^* \in X^* ~:~ \left\| x^* \right\| \leq 1 \right\}.$$

For any $$x \in X$$ and $$x^* \in X^*,$$ $$f(x) + f^*\left(x^*\right) \geq \left\langle x^*, x \right\rangle,$$ which is called the. This inequality is an equality (i.e. $$f(x) + f^*\left(x^*\right) = \left\langle x^*, x \right\rangle$$) if and only if $$x^* \in \partial f(x).$$ It is in this way that the subdifferential set $$\partial f (x)$$ is directly related to the convex conjugate $$f^*\left( x^* \right).$$

Biconjugate
The of a function $$f : X \to [-\infty, \infty]$$ is the conjugate of the conjugate, typically written as $$f^{**} : X \to [-\infty, \infty].$$ The biconjugate is useful for showing when strong or weak duality hold (via the perturbation function).

For any $$x \in X,$$ the inequality $$f^{**}(x) \leq f(x)$$ follows from the. For proper functions, $$f = f^{**}$$ if and only if $$f$$ is convex and lower semi-continuous by Fenchel–Moreau theorem.

Convex minimization
A   is one of the form


 * find $$\inf_{x \in M} f(x)$$ when given a convex function $$f : X \to [-\infty, \infty]$$ and a convex subset $$M \subseteq X.$$

Dual problem
In optimization theory, the states that optimization problems may be viewed from either of two perspectives, the primal problem or the dual problem.

In general given two dual pairs separated locally convex spaces $$\left(X, X^*\right)$$ and $$\left(Y, Y^*\right).$$ Then given the function $$f : X \to [-\infty, \infty],$$ we can define the primal problem as finding $$x$$ such that


 * $$\inf_{x \in X} f(x).$$

If there are constraint conditions, these can be built into the function $$f$$ by letting $$f = f + I_{\mathrm{constraints}}$$ where $$I$$ is the indicator function. Then let $$F : X \times Y \to [-\infty, \infty]$$ be a perturbation function such that $$F(x, 0) = f(x).$$

The with respect to the chosen perturbation function is given by


 * $$\sup_{y^* \in Y^*} -F^*\left(0, y^*\right)$$

where $$F^*$$ is the convex conjugate in both variables of $$F.$$

The duality gap is the difference of the right and left hand sides of the inequality


 * $$\sup_{y^* \in Y^*} -F^*\left(0, y^*\right) \le \inf_{x \in X} F(x, 0).$$

This principle is the same as weak duality. If the two sides are equal to each other, then the problem is said to satisfy strong duality.

There are many conditions for strong duality to hold such as:
 * $$F = F^{**}$$ where $$F$$ is the perturbation function relating the primal and dual problems and $$F^{**}$$ is the biconjugate of $$F$$;
 * the primal problem is a linear optimization problem;
 * Slater's condition for a convex optimization problem.

Lagrange duality
For a convex minimization problem with inequality constraints,


 * $$\min {}_{x} f(x)$$ subject to $$g_i(x) \leq 0$$ for $$i = 1, \ldots, m.$$

the Lagrangian dual problem is


 * $$\sup {}_{u} \inf {}_{x} L(x, u)$$ subject to $$u_i(x) \geq 0$$ for $$i = 1, \ldots, m.$$

where the objective function $$L(x, u)$$ is the Lagrange dual function defined as follows:


 * $$L(x, u) = f(x) + \sum_{j=1}^m u_j g_j(x)$$