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We derive conditions under which a measure on a σ-algebra is uniquely determined by the values on a generator. On our way, we will learn about Dynkin systems and their relation to σ-algebras. Finally, we will prove the uniqueness theorem for measure continuation.

Problem

Continuation of functions on sets to measures are usually done in a way that the as many subsets of a basic set Ω enter the σ-algebra, as possible (while sustaining some nice properties). Often, one requires additional conditions, for instance when constructing a geometric volume, that cuboids in n get assigned their geometric volume. In general, it is not clear whether such a measure with the desired properties even exists. If it does, we might have several σ-algebras where it can be defined on.

The general construction of a measure is as follows: we start with a small set system 𝒞, such that the function on sets restricted to it fulfills the desired properties. For example, for defining a geometric volume, we choose 𝒞 as the set system of cuboids and μ as the set function that assigns to each cuboid its geometric volume.

Using the existence of a continuation - theorem we know when a function μ:𝒞[0,] can be continued to a measure on the σ-algebra σ(𝒞) generated by σ. For the proof of the continuation theorem, one possible continuation has been explicitly stated via outer measures. But can there also be other ways to continue μ to a measure on σ(𝒞)? In other words, we are interested in whether a measure μ on the σ-algebra σ(𝒞) is already uniquely determined by its values on the smaller set system 𝒞.

To make them easier to check, uniqueness statements are often re-formulated in mathematics: Suppose, μ and ν are measures on the σ-algebra σ(𝒞) generated by a set system 𝒞. Further, let μ and ν coincide on 𝒞, which means μ(A)=ν(A) for all A𝒞. Then uniqueness just means μ=ν on the whole σ algebra σ(𝒞).

In the following, we derive conditions for when this is the case.

The principle of good sets

We will proceed step by step to find conditions on the generator 𝒞 and the two measures μ and ν under which uniqueness holds. For this we consider the system of "good sets"

Vorlage:Einrücken

It contains all sets from σ(𝒞) on which μ and ν coincide. Uniqueness would mean that all sets in σ(𝒞) are good, i.e. 𝒢=σ(𝒞).

Actually, this is equivalent to saying that 𝒢 is a σ-algebra: Since by assumption, μ(C)=ν(C) is satisfied for all C𝒞, we have 𝒞𝒢 holds. But 𝒞 already generates σ(𝒞), i.e. there is no smaller σ-algebra which contains 𝒞. So if 𝒢 is a σ-algebra, then 𝒢 (which was contained in σ(𝒞)) must be the entire σ-algebra σ(𝒞) (see: monotonicity and idempotence of the σ-operator).

This type of approach is often used to show that a given property is satisfied for all sets of a set system (like a σ-algebra). It is called the "principle of good sets" and it works like this:

Suppose one can only make statements about a generator of , perhaps because can only be characterized in terms of the generator. An example is the Borel σ-algebra, which is extremely large and can only be written down by means of generators and relations. Then it might be smart to proceed indirectly when showing a property of all sets in .

We define the set system 𝒢={AA has the given property} of "good sets". Then we show:

  • 𝒢 is a σ-algebra.
  • 𝒢 contains a generator 𝒞 of .

It follows that =𝒢, i.e. all sets in are "good". Hence, we gained control over the extremely tedious set by only using properties of the simple sets in 𝒞.

Mathe für Nicht-Freaks: Vorlage:Satz

Mathe für Nicht-Freaks: Vorlage:Hinweis

In our case, the sets of good sets 𝒢={Aσ(𝒞):μ(A)=ν(A)} contains all the sets Aσ(𝒞) on which the measures μ and ν coincide. The equality of the measures on the generator 𝒞 is known, so 𝒞𝒢 holds. Now we are still looking for conditions so that 𝒢 becomes a σ-algebra. So we want to find conditions on the generator 𝒞 and the two measures μ,ν such that:

  • The basic set Ω is contained in 𝒢.
  • 𝒢 is complement stable.
  • 𝒢 is union stable with respect to countable unions.

Existence of an inner approximation

Every σ-algebra contains the basic set Ω, so Ω should be in the set of good sets 𝒢. That is, it should hold that μ(Ω)=ν(Ω) for both measures μ and ν. In general, this need not be the case even if the two measures agree on 𝒞:

Mathe für Nicht-Freaks: Vorlage:Beispiel

So with which conditions on the generator 𝒞 or the two measures μ,ν can we enforce μ(Ω)=ν(Ω)?

Idea and definition of an inner approximation

We know that the measures μ and ν coincide on the sets in 𝒞. The idea is to cover the basic set with at most countably many sets from E1,E2,𝒞, i.e. their union should be n=1En=Ω.

Mathe für Nicht-Freaks: Vorlage:Beispiel Now we want to infer from μ(En)=ν(En) for all n (which holds since these sets are from 𝒞), that μ(Ω)=ν(Ω) holds as well. For this the En should be either pairwise disjoint or contained in each other in ascending order:

  • If the En are pairwise disjoint, we can use the σ-additivity of measures: μ(Ω)=μ(i=1Ei)=n=1μ(Ei)=n=1ν(Ei)=ν(i=1Ei)=ν(Ω)
  • If they are contained in each other in ascending order (i.e. E1E2), they form a monotonic set sequence with limit i=1Ei=Ω. Then we can use the continuity of the measures μ and ν: μ(Ω)=μ(limnEn)=limnμ(Ei)=limnν(Ei)=ν(limnEn)=ν(Ω)

If neither is the case, then we can not necessarily conclude μ(Ω)=ν(Ω) from μ(En)=ν(En) for all n. We consider the case where the En are contained in each other in ascending order and define the notion of exhaustion:

Mathe für Nicht-Freaks: Vorlage:Definition Mathe für Nicht-Freaks: Vorlage:Beispiel Since measures are continuous, íf 𝒞 contains an exhaustion (En)n of Ω, then we have μ(Ω)=limnμ(En)=limnν(En)=ν(Ω).

Intermediate result

To conclude, w have found the following first condition on the set system 𝒞:

To ensure that the basic set is in the "set of good sets" 𝒢, that is, that μ(Ω)=ν(Ω) holds, we require that 𝒞 contains an exhaustion of Ω.

Mathe für Nicht-Freaks: Vorlage:Hinweis

The inner approximating sets have finite measure

By requiring that Ω has an exhaustion by sets from 𝒞, we ensured that Ω lies in the "set of good sets" 𝒢={Aσ(𝒞):μ(A)=ν(A)}. It remains to investigate under which conditions 𝒢 is closed under formation of differences and countable unions. For this purpose let us first examine under which operations 𝒢 is already closed with our previous assumptions:

Unions

Let A and B be two sets from the set of good sets 𝒢. Thus we have μ(A)=ν(A) and the same for B. Now, we take their union. Things look good if BA: in this case AB=A , so μ(AB)=μ(A)=ν(A)=ν(AB) is definitely also in the set of good sets 𝒢. The same happens for AB

A set A does not change when adding the set B

Similarly, the measure value of the union of A and B is uniquely determined if the two sets are disjoint: In that case, from additivity of the measures μ and ν it follows that

Vorlage:Einrücken

So the disjoint union is also uniquely measurable and lies again in 𝒢.


Union of the disjoint sets A and B

If we additionally exploit the σ-additivity of measures, then we even know the measure of countably infinite unions of disjoint sets. Given a sequence of pairwise disjoint sets A1,A2,𝒢, the σ-additivity of measures μ and ν implies

Vorlage:Einrücken

Set differences

Let again A and B be two sets from 𝒢, i.e. let μ(A)=ν(A), μ(B)=ν(B) hold. As in the case of the union, the difference of the two sets is again in 𝒢 if A and B are disjoint. In that case AB=A and we have that μ(AB)=μ(A)=ν(A)=ν(AB). (Likewise with the roles on A and B exchanged).

Cutting a disjoint set B from A has no effect

In the case AB, the difference of A and B is equal to AB=. Since μ()=0=ν() , it lies again in 𝒢. Moreover, because of the additivity of the measure μ, we have that

Vorlage:Einrücken

In the first equation, we used that A is a subset of B. The same is true for the measure ν instead of μ. Rearranging the above formula together with μ(A)=ν(A) and μ(B)=ν(B) yields

Vorlage:Einrücken

Cutting from A an included set B

This equation is dangerous! If A and B have infinite measure, we get the ill-defined expression "", which cannot be sensibly defined:

Mathe für Nicht-Freaks: Vorlage:Beispiel

Differences of sets with infinite measure

A way out of this problem is to approximate A and B by ascending sequences (An)n,(Bn)n of sets of finite measure and take a limit. For this, the sets of the set sequence should also be good sets. We can then calculate the measure of the differences AnBn as above, since μ(An) and μ(Bn) are both finite. But we have to be careful: For this to work, the subset relation AnBn must also hold for the set sequences (An)n,(Bn)n for all n. So we cannot just choose the sequences (An)n and (Bn)n in an arbitrary manner. They need to grow "equally fast" and at the same time approximate A and B equally fast.

Recall: we assumed that there is an exhaustion (En)n of the basic set Ω with sets from the set system 𝒞, i.e., a monotonically growing set sequence in 𝒞 with limit Ω. (This was to guarantee μ(Ω)=ν(Ω).)

Then the sets An:=AEn also form an increasing set sequence with limit

Vorlage:Einrücken

An exhaustion of A by the sets An,n∈ℕ

The same is true for the sequence Bn:=BEn. Moreover, because BA, we also have Bn=BEnAEn=An, so the subset relation is satisfied for every member of the sequence. Because of BnAn=(BEn)(AAn)=(BA)En the sequence of (BnAn)n is also monotonically increasing.

Let us now use the same calculation as for the differences of sets with finite measure

Vorlage:Einrücken

and then turn to the limit n. For this we need:

  • μ(An)=ν(An) and μ(Bn)=ν(Bn) for all n. That is, intersections CEn of sets C𝒞 with the En are said to lie in 𝒢.
  • Each set of the exhaustion has finite measure, i.e., μ(En)< for all n. Only then, because of monotonicity, we can be sure that μ(An)=μ(AEn)μ(En)< and μ(Bn)=μ(BEn)μ(En)< also holds, ´which is our goal.

Mathe für Nicht-Freaks: Vorlage:Hinweis

If (An)n and (Bn)n satisfy these conditions, we can calculate the original difference BA (AB):

Vorlage:Einrücken

Note that we were only able to swap difference and measure because the sets An,Bn had finite measure. We could do that for the sets A,B with infinite measure. For this we had to construct (An)n=(AEn)n,(Bn)n=(BEn)n.

Intersection of two exhaustions of the sets A and B

The following examples shows that the sets En of the exhaustion indeed need to have finite measure in order to get uniqueness.

Mathe für Nicht-Freaks: Vorlage:Beispiel

Intermediate result

We conclude what has been found out:

  • The "set of good sets" 𝒢 is already closed under (at most countably infinitely many) disjoint unions; unions of sets which are subsets of each other; differences of disjoint sets; and differences of sets which are subsets of each other and have finite measure.
  • To ensure that the basic set is in 𝒢, that is, μ(Ω)=ν(Ω), we require that 𝒞 contains an exhaustion (En)n of Ω.
  • In order for differences of sets of infinite measure, which are subsets of each other, are in 𝒢, we require, that the exhaustion sets (En)n all have finite measure and that for all A𝒢 the intersections AEn lie again in 𝒢.

Apart from these conditions and μ|𝒞=ν|𝒞, we make no requirements on μ, ν, and 𝒞.

The last condition is somewhat unsatisfactory, because it involves 𝒢 (which may include complicated sets). But we want to find conditions that refer only to the a priori given measures μ,ν and the generator 𝒞, respectively. We will still work on this and weaken the condition later.

Mathe für Nicht-Freaks: Vorlage:Hinweis

Dynkin systems

As before, let 𝒢={Aσ(𝒞)μ(A)=ν(A)} be the system of good sets on which the two measures μ and ν coincide. Assuming that the conditions from the previous intermediate result are satisfied, we now know that the two measures are equal on the following sets:

  • The basic set Ω: this is guaranteed by the exhaustion (En)n𝒞.
  • Unions of finitely or countably infinitely many pairwise disjoint sets in 𝒢: this holds because of σ-additivity and continuity of the measures μ and ν.
  • Differences of sets from 𝒢, where one is contained in the other: this is guaranteed by finiteness of the exhaustion and by the condition that intersections of sets from 𝒢 with sets of the exhaustion are again in 𝒞.

Thus we can already characterize the set system 𝒢 of "good sets" more precisely. It contains the basic set and is closed under the operations "disjoint union" and "difference of sets contained in each other".

A set system with these properties is called a "Dynkin system".

Definition

Relationship between different set systems.


Mathe für Nicht-Freaks: Vorlage:Definition

Mathe für Nicht-Freaks: Vorlage:Hinweis

An equivalent characterization of a Dynkin system is the following.

Mathe für Nicht-Freaks: Vorlage:Satz

So with the preconditions from the intermediate result of the previous section, 𝒢 is already a Dynkin system. All that is still missing for a σ algebra is closure under arbitrary countable unions.

Moreover, since the two measures μ and ν agree on the generator 𝒞, we have that 𝒞𝒢 holds. So the Dynkin system generated by 𝒞 also lies in the set of good sets 𝒢, which is defined analogously to the generated σ-algebra:

Mathe für Nicht-Freaks: Vorlage:Definition

As with the definition of the generated σ-algebra, we need to convince ourselves that δ(𝒞) is well-defined. This can be done completely analogously to the proof we already gave for generated σ-algebras.

Mathe für Nicht-Freaks: Vorlage:Satz

Mathe für Nicht-Freaks: Vorlage:Hinweis

Examples

Here are a few examples of Dynkin systems:

Mathe für Nicht-Freaks: Vorlage:Beispiel

However, not every Dynkin system is a σ-algebra:

Mathe für Nicht-Freaks: Vorlage:Beispiel

Motivation for cut-stability

We considered conditions under which the set system 𝒢={Aσ(𝒞)μ(A)=ν(A)} of "good" sets is a Dynkin system, i.e.

  • it contains the basic set,
  • it is closed under taking complements,
  • it is closed under taking (countable) disjoint unions.

Since we assume that the measures μ and ν coincide on the generator 𝒞, 𝒞𝒢 holds. Since 𝒢 is itself a Dynkin system, therefore the Dynkin system δ(𝒞) generated by 𝒞 is also contained in 𝒢.

We would like to have σ(𝒞)𝒢 , such that μ and ν agree on their whole domain of definition. So 𝒢 should not just a Dynkin system, but a σ-algebra. So what about closedness under non-disjoint finite/countably infinite unions? Let us first look at finite unions. Let A,B𝒢 be good sets (i.e., μ(A)=ν(A) and μ(B)=ν(B)), non-disjoint, and neither AB nor BA.

Union of two sets that overlap

Initially, we have μ(A)=ν(A) and μ(B)=ν(B), but it is not yet clear whether also μ(AB)=ν(AB) . Actually every value may appear on the lift-hand side, as long as we do not violate the monotonicity of μ, i.e. as long as μ(AB)μ(A) and μ(AB)μ(B).

What other conditions must be satisfied for μ(AB)=ν(AB) to hold? It suffices if the intersection AB is again a good set, i.e. μ(AB)=ν(AB): If A and B both have finite measure, then we have

Vorlage:Einrücken

If either set has infinite measure, the equality μ(AB)==ν(AB) holds anyway. Intersections of good sets should therefore be good sets again.

A set system, which is not left, when taking arbitrary intersections between its sets is called "cut-stable":

Mathe für Nicht-Freaks: Vorlage:Definition Mathe für Nicht-Freaks: Vorlage:Hinweis

Is the cut-stability of the system of good sets 𝒢 in addition to our previous conditions already enough for it to be an σ-algebra? Suppose 𝒢 is cut-stable. The previous reasoning for two sets can be extended by induction to any finite union of good sets: Let A1,A2,,Anσ(𝒞) be good sets, i.e., μ(Ai)=ν(Ai) for all i=1,,n. We also assume again that all Ai have finite measure (otherwise the equality holds anyway). Then

Vorlage:Einrücken

(with "i.a." meaning "induction assumption") Making use of the cut-stability, we have that 𝒢 is closed under arbitrary finite unions.

Countably infinite unions nAn can be made "artificially" disjoint by cutting the preceding ones out of each set: Define

Vorlage:Einrücken

Then nAn=nBn is a disjoint union of sets. If the An are from 𝒢, then so are the Bn, provided that 𝒢 is cut-stable: According to the preceding, the finite union A1An1 lies in 𝒢, and so does the complement of this set (since 𝒢 is a Dynkin system). And by cut-stability also the intersection of it with An lies in 𝒢. Now, 𝒢 is closed under countable disjoint unions (Dynkin system), so also nBn=nAn is a good set.

These considerations show: If the Dynkin system 𝒢 is additionally cut stable, it is also closed under arbitrary, at most countable unions, i.e., it is a sigma-algebra. We summarize this in a theorem:

Mathe für Nicht-Freaks: Vorlage:Satz

Intermediate result

We conclude our so far obtained results:

  • To ensure that the basic set lies in the set of good sets 𝒢, that is μ(Ω)=ν(Ω), we require that 𝒞 contains an exhaustion (En)n of Ω.
  • To ensure that differences of sets of infinite measure which are subsets of each other, are again in 𝒢, we require, that the exhaustion sets (En)n all have finite measure and that for all A𝒢 cuts AEn lie again in 𝒢.
  • With these two conditions, 𝒢 is already a Dynkin system. For it to be a σ-algebra, 𝒢 should be cut stable, that is, cuts of good sets should be good again.

Except for these conditions and μ|𝒞=ν|𝒞, we make no further requirements on μ, ν, and 𝒞.

Mathe für Nicht-Freaks: Vorlage:Hinweis

Next, we will answer the question, which additional conditions on μ, ν, or 𝒞 will make 𝒢 cut-stable.

Cut-stability of the generator

We have found conditions on the measures μ,ν and the generator 𝒞 by which the set of good sets 𝒢={Aσ(𝒞)μ(A)=ν(A)} is a Dynkin system. In particular, 𝒢 thus contains the Dynkin system δ(𝒞) generated by 𝒞, since 𝒞𝒢. We want σ(𝒞)𝒢 to hold as well. For this it suffices to find additional conditions under which δ(𝒞) is cut-stable: Since every cut-stable Dynkin system is a σ-algebra, it then follows that σ(𝒞)=δ(𝒞)𝒢σ(𝒞), and we are done.

So under what conditions is the Dynkin system generated by 𝒞 cut-stable? This apparently depends only on the properties of the set system 𝒞, not on the measures μ or ν. In fact, it is sufficient if 𝒞 is cut-stable. This has to do with the fact that the cut operation is compatible with the union and complement operations of a Dynkin system, and thus the cut-stability is inherited from the generator to the generated Dynkin system. We show this in the following theorem.

Mathe für Nicht-Freaks: Vorlage:Satz

Since every average-stable Dynkin system is a σ algebra, it follows directly:

Mathe für Nicht-Freaks: Vorlage:Satz

This relation between Dynkin systems and σ-algebras is very useful and simplifies many proofs about measures. This is because for Dynkin systems one can exploit the σ-additivity of the measure, since only disjoint unions need to be considered. In the proof of the uniqueness theorem we will see in a moment a first example where this enables to perform a proof.

Intermediate result

We summarize the conditions we found to get σ(𝒞)=𝒢, that is, equality of μ and ν on all of σ(𝒞):

  • To ensure that the basic set is in the set of good sets 𝒢, that is, μ(Ω)=ν(Ω), we require that 𝒞 contains an exhaustion (En)n of Ω.
  • To ensure that differences of sets of infinite measure, which are subsets of each other, are again in 𝒢, we require that the exhaustion sets (En)n all have finite measure.
  • To ensure that the Dynkin system δ(𝒞) generated by 𝒞 is cut-stable, i.e., it is a σ-algebra, we require that the generator 𝒞 must be cut-stable.

In general, one cannot drop the cut- stability of 𝒞 if the measures μ and ν shall also agree on σ(𝒞), as the following example shows.

Mathe für Nicht-Freaks: Vorlage:Beispiel

Uniqueness of measure continuations

We can now formulate and prove the uniqueness theorem.

Mathe für Nicht-Freaks: Vorlage:Satz Mathe für Nicht-Freaks: Vorlage:Hinweis

Because of the cut-stability of 𝒞 the sequence of sets (En)n exhausting Ω need not be monotonically increasing. It is sufficient to require that there exists a sequence (An)n𝒞 such that Ω=n=1An and μ(An)=ν(An)< holds: If there exists such a sequence, we can define En=i=1nAi and obtain a monotonically increasing sequence with limit Ω. Moreover, these sets also satisfy μ(En)=ν(En)<, as we saw in the section on cut-stability: Cut-stability ensures that μ and ν coincide even on finite (possibly non-disjoint) unions.

One therefore sometimes finds the following formulation of the uniqueness theorem:

Mathe für Nicht-Freaks: Vorlage:Satz

If μ and ν are probability measures, then the second condition is always automatically satisfied: Because of μ(Ω)=ν(Ω)=1< one can assume without restriction Ω𝒞 and choose the constant sequence (Ω)n. In probability theory, therefore, one often finds the following version of the uniqueness theorem:

Mathe für Nicht-Freaks: Vorlage:Satz

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