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Section1.5Continuity

As we have studied limits, we have gained the intuition that limits measure “where a function is heading.” That is, if \(\lim\limits_{x\to 1} f(x) = 3\text{,}\) then as \(x\) is close to \(1\text{,}\) \(f(x)\) is close to \(3\text{.}\) We have seen, though, that this is not necessarily a good indicator of what \(f(1)\) actually is. This can be problematic; functions can tend to one value but attain another. This section focuses on functions that do not exhibit such behavior.

Definition1.5.1Continuous Function

Let \(f\) be a function defined on an open interval \(I\) containing \(c\text{.}\)

  1. \(f\) is continuous at \(c\) if \(\lim\limits_{x\to c}f(x) = f(c)\text{.}\)

  2. \(f\) is continuous on \(I\) if \(f\) is continuous at \(c\) for all values of \(c\) in \(I\text{.}\) If \(f\) is continuous on \((-\infty,\infty)\text{,}\) we say \(f\) is continuous everywhere.

A useful way to establish whether or not a function \(f\) is continuous at \(c\) is to verify the following three things:

  1. \(\lim\limits_{x\to c} f(x)\) exists,

  2. \(f(c)\) is defined, and

  3. \(\lim\limits_{x\to c} f(x) = f(c)\text{.}\)

Example1.5.2Finding intervals of continuity

Let \(f\) be defined as shown in Figure 1.5.3. Give the interval(s) on which \(f\) is continuous.

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Figure1.5.3A graph of \(f\) in Example 1.5.2.
Solution
Example1.5.4Finding intervals of continuity

The floor function, \(f(x) = \lfloor x \rfloor\text{,}\) returns the largest integer smaller than the input \(x\text{.}\) (For example, \(f(\pi) = \lfloor \pi \rfloor = 3\) and \(f(2.5)=\lfloor 2.5 \rfloor=2\text{.}\)) The graph of \(f\) in Figure 1.5.5 demonstrates why this is often called a “step function.”

Give the intervals on which \(f\) is continuous.

<<SVG image is unavailable, or your browser cannot render it>>

Figure1.5.5A graph of the step function in Example 1.5.4.
Solution

Our definition of continuity on an interval specifies the interval is an open interval. We can extend the definition of continuity to closed intervals by considering the appropriate one-sided limits at the endpoints.

Definition1.5.6Continuity on Closed Intervals

Let \(f\) be defined on the closed interval \([a,b]\) for some real numbers \(a,b\text{.}\) \(f\) is continuous on \([a,b]\) if:

  1. \(f\) is continuous on \((a,b)\text{,}\)

  2. \(\lim\limits_{x\to a^+} f(x) = f(a)\) and

  3. \(\lim\limits_{x\to b^-} f(x) = f(b)\text{.}\)

Item 2 in Definition 1.5.6 indicates that the function is continuous from the right at \(a\text{,}\) while Item 3 indicates that the function is continuous from the left at \(b\text{.}\)

We could make the appropriate adjustments to talk about continuity on half-open intervals such as \([a,b)\) or \((a,b]\) if necessary.

Example1.5.7Determining intervals on which a function is continuous

For each of the following functions, give the domain of the function and the interval(s) on which it is continuous.

  1. \(f(x) = 1/x\)

  2. \(f(x) = \sin(x)\)

  3. \(f(x) = \sqrt{x}\)

  4. \(f(x) = \sqrt{1-x^2}\)

  5. \(f(x) = \abs{x}\)

Solution

Continuity is inherently tied to the properties of limits. Because of this, the properties of limits found in Theorems 1.3.1 and 1.3.3 apply to continuity as well. Further, now knowing the definition of continuity we can re-read Theorem 1.3.5 as giving a list of functions that are continuous on their domains. The following theorem states how continuous functions can be combined to form other continuous functions, followed by a theorem which formally lists functions that we know are continuous on their domains.

We apply these theorems in the following Example.

Example1.5.10Determining intervals on which a function is continuous

State the interval(s) on which each of the following functions is continuous.

  1. \(f(x) = \sqrt{x-1} + \sqrt{5-x}\)

  2. \(f(x) = x\sin(x)\)

  3. \(f(x) = \tan(x)\)

  4. \(f(x) = \sqrt{\ln(x)}\)

Solution

A common way of thinking of a continuous function is that “its graph can be sketched without lifting your pencil.” That is, its graph forms a “continuous” curve, without holes, breaks or jumps. This pseudo-definition glosses over some of the finer points of continuity that are beyond the scope of this text. Very strange functions are continuous that one would be hard pressed to actually sketch by hand.

However this intuitive notion of continuity does help us understand another important concept as follows. Suppose \(f\) is defined on \([1,2]\text{,}\) and \(f(1) = -10\) and \(f(2) = 5\text{.}\) If \(f\) is continuous on \([1,2]\) (i.e., its graph can be sketched as a continuous curve from \((1,-10)\) to \((2,5)\)) then we know intuitively that somewhere on the interval \([1,2]\) \(f\) must be equal to \(-9\text{,}\) and \(-8\text{,}\) and \(-7,-6,\ldots,0,1/2\text{,}\) etc. In short, \(f\) takes on all intermediate values between \(-10\) and \(5\text{.}\) It may take on more values; \(f\) may actually equal \(6\) at some time, for instance, but we are guaranteed all values between \(-10\) and \(5\text{.}\)

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Figure1.5.12Illustration of the Intermediate Value Theorem: the output \(3\) is in between \(-10\) and \(5\text{,}\) and therefore any continuous function on \([1,2]\) with \(f(1) = -10\) and \(f(2) = 5\) will achieve the output \(3\) somewhere in \([1,2]\text{.}\)

While this notion seems intuitive, it is not trivial to prove and its importance is profound. Therefore the concept is stated in the form of a theorem.

One important application of the Intermediate Value Theorem is root finding. Given a function \(f\text{,}\) we are often interested in finding values of \(x\) where \(f(x) = 0\text{.}\) These roots may be very difficult to find exactly. Good approximations can be found through successive applications of this theorem. Suppose through direct computation we find that \(f(a) \lt 0\) and \(f(b)>0\text{,}\) where \(a\lt b\text{.}\) The Intermediate Value Theorem states that there is a \(c\) in \([a,b]\) such that \(f(c) = 0\text{.}\) The theorem does not give us any clue as to where that value is in the interval \([a,b]\text{,}\) just that it exists.

There is a technique that produces a good approximation of \(c\text{.}\) Let \(d\) be the midpoint of the interval \([a,b]\text{,}\) with \(f(a) \lt 0\) and \(f(b) \gt 0\) and consider \(f(d)\text{.}\) There are three possibilities:

  1. \(f(d) = 0\) — we got lucky and stumbled on the actual value. We stop as we found a root.

  2. \(f(d) \lt 0\text{.}\) Then we know there is a root of \(f\) on the interval \([d,b]\) — we have halved the size of our interval, hence are closer to a good approximation of the root.

  3. \(f(d) >0\text{.}\) Then we know there is a root of \(f\) on the interval \([a,d]\) — again,we have halved the size of our interval, hence are closer to a good approximation of the root.

Successively applying this technique is called the Bisection Method of root finding. We continue until the interval is sufficiently small. We demonstrate this in the following example.

Example1.5.14Using the Bisection Method

Approximate the root of \(f(x) = x-\cos(x)\text{,}\) accurate to three places after the decimal.

Solution

It is a simple matter to extend the Bisection Method to solve problems similar to “Find \(x\text{,}\) where \(f(x) = 0\text{.}\)” For instance, we can find \(x\text{,}\) where \(f(x) = 1\text{.}\) It actually works very well to define a new function \(g\) where \(g(x) = f(x) - 1\text{.}\) Then use the Bisection Method to solve \(g(x)=0\text{.}\)

Similarly, given two functions \(f\) and \(g\text{,}\) we can use the Bisection Method to solve \(f(x) = g(x)\text{.}\) Once again, create a new function \(h\) where \(h(x) = f(x)-g(x)\) and solve \(h(x) = 0\text{.}\)

In Section 4.1 another equation solving method will be introduced, called Newton's Method. In many cases, Newton's Method is much faster. It relies on more advanced mathematics, though, so we will wait before introducing it.

This section formally defined what it means to be a continuous function. “Most” functions that we deal with are continuous, so often it feels odd to have to formally define this concept. Regardless, it is important, and forms the basis of the next chapter.

Subsection1.5.1Exercises

In the following exercises, a graph of a function \(f\) is given along with a value \(a\text{.}\) Determine if \(f\) is continuous at \(a\text{;}\) if it is not, state why it is not.

In the following exercises, determine if \(f\) is continuous at the indicated values. If not, explain why.

In the following exercises, give the intervals on which the given function is continuous.

In the following exercises, use the Bisection Method to approximate, accurate to two decimal places, the value of the root of the given function in the given interval.

The following exercises are review from prior sections.