- the graph of such a function can be drawn without lifting the pen
- there is no sudden jump in values
- if we can be guarantee that change in output can be made as small as we please by making the change in input sufficiently small.
Although these are informal ways to talk about continuity of functions, it is a good way to visualize some well behaved functions. Mathematicians like Bolzano and Cauchy tried (and came pretty close) in giving a rigorous definition of continuity. Finally, Weierstrass succeeded in giving a satisfactory (and most commonly used) definition of a continuous function.
For simplicity, we shall assume that the domain of the real valued function is an interval (eg. (0,1), \mathbb{R}^+, [-1,1]) for simplicity. However, the definition is still valid for any nonempty subset of \mathbb{R}. Let f:I \to \mathbb{R} be a real valued function and let a \in I. Then f is said to be continuous at a if for any open interval V around f(a), there exist an open interval U around a, such that image set of U under f is contained in V. In logical notation:
\forall \epsilon > 0 \; \exists \delta > 0 \; \forall x \in I \;( |x - a| < \delta \implies |f(x) - f(a)| < \epsilon)
A function f:I \to \mathbb{R} is said to be continuous if it is continuous at every a \in I. Since we are checking continuity of f at every point, this is sometimes referred as pointwise continuity. In logical notation,
\forall y \in I \; \forall \epsilon > 0 \; \exists \delta > 0 \; \forall x \in I\; ( |x - y| < \delta \implies |f(x) - f(y)| < \epsilon)
Observe that \delta may depend on \epsilon and the point a (where we are checking continuity). In the case, where \delta is independent of point a, we say that f is uniformly continuous.
(the adjective continuous is reserved for pointwise continuity).
Let f:I \to \mathbb{R} be a continuous function and let a<b where a,b \in I. Suppose c is a real number lying between f(a) and f(b) (assume f(a) < c <f(b)). Now we collect all such numbers x \in [a,b] such that f(x) < c. Obviously a belongs to this collection and b does not. This collection has a least upper bound (this comes from a fundamental property of \mathbb{R} called supremum property) which we call \alpha. Now, from continuity of f, if it is takes positive (or negative) value at a point, it takes positive (or negative) in a sufficiently small interval around that point (it is quite easy to prove this fact). We apply this to f(x) - c, to see that f(\alpha) > c and f(\alpha) < c contradicts the definition of \alpha. So, we showed that there exists \alpha \in (a,b) such that f(\alpha) = c.
This result is called the intermediate value theorem and the fact that I is an interval played a role in the proof of this statement. This justifies the informal ideas of continuity.
References:
- Calculus by M. Spivak