2. Preliminaries
In this section, we review some fundamental concepts and properties of Jordan algebras, as presented in [
9] on symmetric cones and in [
10,
11,
12] on second-order cones (Lorentz cones), which are essential for the subsequent analysis.
A Euclidean Jordan algebra is a finite-dimensional inner product space ( for short) over the field of real numbers equipped with a bilinear map , which satisfies the following conditions:
- (i)
for all ;
- (ii)
for all ;
- (iii)
for all ,
where , and is called the Jordan product of x and y. If a Jordan product only satisfies conditions (i) and (ii) in the above definition, the algebra is said to be a Jordan algebra. If there is a (unique) element such that for all , the element e is called the identity element in . Note that a Jordan algebra does not necessarily have an identity element. Throughout this paper, we assume that is a Euclidean Jordan algebra with an identity element e.
In a given Euclidean Jordan algebra
, the set of squares
is a
symmetric cone[
9], TheoremIII.2.1. That is,
is a self-dual, closed convex cone, and homogeneous, which means that for any two elements
, there exists an invertible linear transformation
such that
and
.
An element is an idempotent if ,
An element is called a primitive idempotent if it is nonzero and cannot be written as a sum of two nonzero idempotents.
The idempotents and are said to be orthogonal if .
In addition, we say that a finite set
of primitive idempotents in
is a
Jordan frame if
Note that
whenever
. With the above definitions, there is the spectral decomposition of an element
x in
.
Theorem 1.
[9], heoremIII.1.2 (The Spectral Decomposition Theorem) Let be a Euclidean Jordan algebra. Then there is a number r such that, for every , there exists a Jordan frame and real numbers with
Here, the numbers are called the eigenvalues of x, the expression is called the spectral decomposition of x. Moreover, is called the trace of x, and is called the determinant of x.
The second-order cone (in short SOC), in
is an important example of symmetric cones, which is defined as follows:
For
,
denotes the set of nonnegative real number
. Since
is a pointed closed convex cone, for any
in
, we define a partial order on it:
Note that the relation
(or
) is only a partial ordering, not a linear ordering in
. To see this, a counterexample occurs by taking
and
in
. It is clear to see that
,
. For any
and
, we define the
Jordan product as
We note that
acts as the Jordan identity. Besides, the Jordan product is
not associative in general. However, it is power associative, i.e.,
for all
. Without loss of ambiguity, we may denote
for the product of
m copies of
x and
for any positive integers
m and
n. Here, we set
. In addition,
is
not closed under Jordan product.
Given any
, it is known that there exists a unique vector in
denoted by
such that
. Indeed,
In the above formula, the term
is defined to be the zero vector if
, i.e.,
. For any
, we always have
, i.e.,
. Hence, there exists a unique vector
denoted by
. It is easy to verify that
and
for any
. It is also known that
. For more details, please refer to [
9,
13].
In the setting of second-order cone in
, the vector
can be decomposed as
where
and
are the eigenvalues (or spectral values) and the associated eigenvectors (or spectral vectors) of
x, respectively, given by
for
with
being any vector in
satisfying
. The decomposition is unique if
. Accordingly, the determinant, the trace, and the Euclidean norm of
x can all be represented in terms of
and
:
For any function
, the following vector-valued function associated with
(
) was considered in [
10,
11]:
If
f is defined only on a subset of
, then
is defined on the corresponding subset of
. The definition (
4) is unambiguous whether
or
. The cases of
,
,
are discussed in [
9]. Let
m be any real number and
, we could define the
power of
x as
With this definition, we can explore the properties of the Young inequality associated with second-order cones.
In a Euclidean Jordan algebra
, for any
, the linear transformation
is called
Lyapunov transformation, which is defined as
for all
. The so-called
quadratic representation is defined by
For any
, the endomorphisms
and
are self-adjoint. We say that two elements
x and
y of a Euclidean Jordan algebra
operator commute if
for all
, which is equivalent to stating that
. For the quadratic representation
, if
x is invertible, then
is invertible with
and
To close this section, we summarize some fundamental properties as follows. The proofs are omitted because they can be found in [
9,
10,
13].
Lemma 1. For any with spectral decomposition given as in (1)-(3), the following hold.
-
(a)
;
-
(b)
If , then for all .
-
(c)
.
-
(d)
.
Lemma 2. For any with spectral decomposition given as in (1)-(3), the following results hold.
-
(a)
whenever .
-
(b)
.