SPLINE FUNCTIONS BASIC THEORY

LARRY L. SCHUMAKER

THIRD EDITION

CAMBRIDGE
UNIVERSITY PRESS

Preface Preface to the 3rd Edition

Chapter 1 Introduction .1 .2 .3 .4 .5 .6 Chapter 2

xi
XV

1 1 2 3 5 7 9 12 12 14 19 24 29 36 45 54 59 70 75 76 79 83 83 85 89 91 97 101 103 105 vii

Approximation Problems Polynomials Piecewise Polynomials Spline Functions Function Classes and Computers Historical Notes

Preliminaries 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 2.11 2.12 2.13

Function Classes Taylor Expansions and the Green's Function Matrices and Determinants Sign Changes and Zeros Tchebycheff Systems Weak Tchebycheff Systems Divided Differences Moduli of Smoothness The /^-Functional /?-Widths Periodic Functions Historical Notes Remarks

Chapter 3

Polynomials 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8

Basic Properties Zeros and Determinants Variation-Diminishing Properties Approximation Power of Polynomials Whitney-Type Theorems The Inflexibility of Polynomials Historical'Notes Remarks

CONTENTS Chapter 4 Polynomial Splines 4.1 Basic Properties 4.2 Construction of a Local Basis 4.3 B-Splines 4.4 Equally Spaced Knots 4.5 The Perfect B-Spline 4.6 Dual Bases 4.7 Zero Properties 4.8 Matrices and Determinants 4.9 Variation-Diminishing Properties 4.10 Sign Properties of the Green's Function 4.11 Historical Notes 4.12 Remarks Chapter 5 Computational Methods 5.1 5.2 5.3 5.4 5.5 5.6 5.7 Chapter 6 Storage and Evaluation Derivatives The Piecewise Polynomial Representation Integrals Equally Spaced Knots Historical Notes Remarks > 108 108 112 118 134 139 142 154 165 177 180 181 185 189 189 195 197 199 204 207 208 210 210 212 220 223 233 236 239 240 252 261 264 268 268 270 276

Approximation Power of Splines 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 6.11 Introduction Piecewise Constants Piecewise Linear Functions Direct Theorems Direct Theorems in Intermediate Spaces Lower Bounds n-Widths Inverse Theory for p oo Inverse Theory for 1 < p < oo Historical Notes Remarks

Chapter 7

Approximation Power of Splines (Free Knots) 7.1 7.2 7.3 Introduction Piecewise Constants Variational Moduli of Smoothness

CONTENTS 7.4 7.5 7.6 7.7 7.8 Chapter 8 Direct and Inverse Theorems Saturation Saturation Classes Historical Notes Remarks

ix 278 283 286 293 294 297 297 309 316 330 342 360 362 363 363 373 378 380 388 390 393 395 405 407 411 417 420 420 424 429 433 438 440 444 452 459 461

Other Spaces of Polynomial Splines 8.1 8.2 8.3 8.4 8.5 8.6 8.7 Periodic Splines Natural Splines g-Splines Monosplines Discrete Splines Historical Notes Remarks

Chapter 9

Tchebycheffian Splines 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9 9.10 9.11 9.12 Extended Complete Tchebycheff Systems A Green's Function Tchebycheffian Spline Functions Tchebycheffian B-Splines Zeros of Tchebycheffian Splines Determinants and Sign Changes Approximation Power of T-Splines Other Spaces of Tchebycheffian Splines Exponential and Hyperbolic Splines Canonical Complete Tchebycheff Systems Discrete Tchebycheffian Splines Historical Notes

Chapter 10

L-Splines 10.1 10.2 10.3 10.4 10.5 10.6 10.7 10.8 10.9. 10.10 Linear Differential Operators A Green's Function L-Splines A Basis of Tchebycheffian B-Splines Approximation Power of L-Splines Lower Bounds Inverse Theorems and Saturation Trigonometric Splines Historical Notes Remarks

x Chapter 11 Generalized Splines 11.1 11.2 11.3 11.4 11.5 11.6 11.7 11.8

CONTENTS 462 462 466 470 472 478 479 480 482 484 484 486 489 492 497 499 501 501 503 506 507 516 520 521 523 524 534 559 577

A General Space of Splines A One-Sided Basis Constructing a Local Basis Sign Changes and Weak Tchebycheff Systems A Nonlinear Space of Generalized Splines Rational Splines Complex and Analytic Splines Historical Notes

Chapter 12 Tensor-Product Splines 12.1 12.2 12.3 12.4 12.5 12.6 Tensor-Product Polynomial Splines Tensor-Product B-Splines Approximation Power of Tensor-Product Splines Inverse Theory for Piecewise Polynomials Inverse Theory for Splines Historical Notes

Chapter 13 Some Multidimensional Tools 13.1 13.2 13.3 13.4 13.5 13.6 13.7 13.8 Supplement References New References Index Notation Sobolev Spaces Polynomials Taylor Theorems and the Approximation Power of Polynomials Moduli of Smoothness The /.-Functional Historical Notes Remarks