Conformal maps
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1 Introduction
Let \(D \subset \overline{\mathbb {C}}\).
Definition 1. A map \(f\) of a domain \(D\) is called conformal if
\(f\) is a bijection between \(D\) and \(f(D)\);
\(f\), \(f^{-1}\) are regular (in a suitable local parameter).
What does “in a suitable local parameter” mean? Regularity in the definition above means regularity in a neighborhood of every point of the domain of definition \(D \subset \overline{\mathbb {C}}\). Let \(z_0 \in D\), \(f(z_0) = w_0\). 4 cases:
\(z_0 \neq \infty\), \(w_0 \neq \infty\). Then let \(\zeta = z\), \(\omega = w\);
\(z_0 = \infty\), \(w_0 \neq \infty\). Then let \(\zeta = \frac{1}{z}\), \(\omega = w\);
\(z_0 \neq \infty\), \(w_0 = \infty\). Then let \(\zeta = z\), \(\omega = \frac{1}{w}\);
\(z_0 = \infty\), \(w_0 = \infty\). Then let \(\zeta = \frac{1}{z}\), \(\omega = \frac{1}{w}\);
Regularity of \(f\) in a neighborhood of \(z_0\) means regularity of \(\omega = \omega (\zeta )\) in a neighborhood of \(\zeta_0\) as an ordinary complex function (\(\zeta\) and \(\omega\) are chosen so that \(\zeta_0\) and \(\omega_0\) are always finite points).
That is, this is a map that, in the local parameter, is an ordinary regular map, and the derivative at every point (in local coordinates) exists and is nonzero.
Definition 2. A map \(f\) of a domain \(D\) is called conformal if
\(f\) is univalent (i.e. it is a bijection between \(D\) and \(f(D)\))
\(f\) is regular at every point \(z \in D\), except possibly one pole of order \(1\). Moreover, if \(z_0\) is a point of regularity, then \(f'(z_0) \neq 0\).
Definition 3. A map \(f\) of a domain \(D\) is called conformal if
\(f\) is univalent (i.e. it is a bijection between \(D\) and \(f(D)\))
\(f\) is regular in a punctured neighborhood of every point of \(D\);
Conformality is an equivalence relation on the set of all domains on the Riemann sphere \(\overline{\mathbb {C}}\). Into which equivalence classes does this relation split the simply connected domains?
2 Fractional-linear maps (Möbius maps)
2.1 Definition
Let \(a, b \in \mathbb {C}\), \(a \neq 0\). Consider the map
\[ z \mapsto w(z) = \begin{cases} az + b, & z \neq \infty \\ \infty , & z = \infty \end{cases} \]
This map \(\overline{\mathbb {C}} \to \overline{\mathbb {C}}\) is called linear. For brevity we write this map as \(w(z) = az + b\), with the understanding that \(z\) may also be \(\infty\) (in which case \(w(\infty )= \infty\)).
Fractional-linear maps are a generalization of linear maps. Let \(a,b,c,d \in \mathbb {C}\), with \(ad - bc \neq 0\). A fractional-linear map (or Möbius map) is a map \(\overline{\mathbb {C}} \to \overline{\mathbb {C}}\) which, in the case \(c = 0\), equals \(\frac{a}{d}z +\frac{b}{d}\) and is given as above, and in the case \(c \neq 0\) is given by
\[ z \mapsto w(z) = \begin{cases} \frac{a z+b}{c z+d}, & z \neq \infty , z \neq -\frac{d}{c} \\ \infty , & z = -\frac{d}{c} \\ \frac{a}{c}, & z = \infty \end{cases} \]
The condition \(a d-b c \neq 0\) means that \(w \not\equiv \operatorname {const}\). Again, for brevity it is customary to write \(w(z) = \frac{a z+b}{c z+d}\), where \(z\) may be substituted by any point of \(\overline{\mathbb {C}}\).
2.2 Properties
2.2.1 Conformality
In particular, a Möbius map preserves angles between curves.
2.2.2 Möbius maps form a group
It is easy to check that the composition of 2 Möbius maps is again a Möbius map.
Let \(ad - bc \neq 0\). Then the matrix \(\left(\begin{smallmatrix} a & b \\ c & d \end{smallmatrix}\right)\) is nonsingular. To each such matrix corresponds a Möbius map:
\[ \left(\begin{smallmatrix} a & b \\ c & d \end{smallmatrix}\right) \mathrel {\leadsto } w = w(z) \]
where \(w(z) = \frac{a z+b}{c z+d}\). It turns out (easy to check) that matrix multiplication corresponds to the composition of 2 Möbius maps: if \(\left(\begin{smallmatrix} a_1 & b_1 \\ c_1 & d_{1} \end{smallmatrix}\right)\), \(\left(\begin{smallmatrix} a_2 & b_2 \\ c_2 & d_{2} \end{smallmatrix}\right)\) are two nonsingular matrices, then
\[ \begin{pmatrix} a_1 & b_1 \\ c_1 & d_1 \end{pmatrix} \cdot \begin{pmatrix} a_2 & b_2 \\ c_2 & d_2 \end{pmatrix} \mathrel {\leadsto } w_1 \circ w_2 \]
where \(w_{1,2}(z) = \frac{a_{1,2}z + b_{1,2}}{c_{1,2}z + d_{1,2}}\)
What use is this? If we want to find the inverse map to the Möbius map \(w(z) = \frac{a z+b}{c z+d}\), we just need to see which map corresponds to the matrix \(\left(\begin{smallmatrix} a & b \\ c & d \end{smallmatrix}\right)^{-1}\). Namely,
\[ \begin{pmatrix} a & b \\ c & d \end{pmatrix}^{-1} = \frac{1}{ad - bc} \begin{pmatrix} d & -b \\ -c & a \end{pmatrix} \quad \mathrel {\leadsto } \quad w^{-1}(z) = \frac{\frac{1}{ad - bc}dz - \frac{1}{ad - bc} b }{-\frac{1}{ad - bc} cz + \frac{1}{ad - bc} a} = \frac{dz - b}{-cz + a} \]
This map is not an isomorphism for \(\operatorname {GL}_2(\mathbb {C})\), since the kernel is nontrivial. For example, the identity matrix \(\left(\begin{smallmatrix} 1 & 0 \\ 0 & 1\end{smallmatrix}\right)\) maps to the identity map \(w(z) = \frac{1z + 0}{0z + 1} = z\). But so does, for example, \(\left(\begin{smallmatrix} 2 & 0 \\ 0 & 2\end{smallmatrix}\right)\): in this case \(w(z) = \frac{2z + 0}{0z+ 2} =z\); the kernel consists of all scalar matrices \(\lambda E\), \(\lambda \neq 0\). If we restrict to matrices with unit determinant, the kernel shrinks but remains nontrivial: \(\operatorname {det}(-E) = 1\), and the corresponding Möbius map is the identity. That is, the kernel narrows to \(\left\{ \pm E\right\}\).
2.2.3 The circle-preserving property
Recall that a circle on the Riemann sphere (under stereographic projection) corresponds to a circle in the plane \(\mathbb {C}\) if, on the sphere, the circle did not pass through the top point, i.e. through \(\infty\). If it does pass through \(\infty\), then on the plane it corresponds to a line.
2.2.4 A Möbius map preserves symmetry of points
Let \(z_1, z_2 \in \overline{\mathbb {C}}\), and let \(\gamma\) be a line or a circle. We need to define symmetry of points with respect to \(\gamma\).
Let \(\gamma\) be a line. Finite points \(z_1, z_2 \in \mathbb {C}\) are called symmetric with respect to \(\gamma\) if they are symmetric in the ordinary geometric sense. That is, the segment \([z_1, z_2]\) crosses the line \(\gamma\) perpendicularly, with the distance from \(\gamma\) to \(z_1\) and to \(z_2\) equal.
Further, \(\infty\) is symmetric only to \(\infty\). It is convenient to adopt this convention, since every point on a line is symmetric to itself (with respect to that line), and \(\infty\) lies on the line (once we pass to the Riemann sphere).
Let \(\gamma\) be a circle. Points \(z_1\), \(z_2\) are symmetric with respect to \(\gamma\) if they are related by inversion. Namely, they lie on the same ray from the center \(z_0\) of the circle \(\gamma\), with \(\left|z_1 - z_0\right| \cdot \left|z_2 - z_0\right| = R^2\), where \(R\) is the radius of \(\gamma\).
In particular, the center \(z_0\) itself is symmetric to \(\infty\) with respect to \(\gamma\).
2.2.5 A Möbius map preserves the cross-ratio of 4 points
Let \(z_1, z_2, z_3, z_4 \in \overline{\mathbb {C}}\). The cross-ratio of these four numbers is defined as
\[ (z_1, z_2, z_3, z_4 ) \quad := \quad \frac{z_3 - z_1}{z_3 - z_2} \; \colon \; \frac{z_4 - z_1}{z_4 - z_2} = \frac{(z_3 - z_1) (z_4 - z_2)}{(z_3 - z_2) (z_4 - z_1)} \]
In particular, if \(z_1 = \infty\), then
\[ (\infty , z_2, z_3, z_4 ) = \frac{(z_3 - \infty ) (z_4 - z_2)}{(z_3 - z_2) (z_4 - \infty )} = \lim _{z_1 \to \infty } \frac{(z_3 - z_1) (z_4 - z_2)}{(z_3 - z_2) (z_4 - z_1)} = \frac{z_4 - z_2}{z_3 - z_2} \]
2.3 Examples of fractional-linear maps
2.3.1 3 points to 3 points
There exists a unique fractional-linear map under which three distinct points \(z_{1}, z_{2}, z_{3}\) of \(\overline{\mathbb {C}}\) map respectively to three distinct points \(w_{1}, w_{2}, w_{3}\) of \(\overline{\mathbb {C}}\). This map can be found from the equality of cross-ratios: \((z_1, z_2, z_3, z) = (w_1, w_2, w_3, w)\). Namely,
\[ \frac{w_3-w_{1}}{w_3-w_{2}} \colon \frac{w-w_{1}}{w-w_{2}}=\frac{z_3-z_{1}}{z_3-z_{2}} \colon \frac{z-z_{1}}{z-z_{2}} . \]
2.3.2 Upper half-plane to the unit disk
Every conformal map from the upper half-plane \(\{ z: \operatorname {Im} z>0\}\) onto the disk \(\{ w:|w|<1\}\) has the form
\[ w(z)=\frac{z-z_{0}}{z-\bar{z}_{0}} \cdot e^{i \alpha } \]
where \(\operatorname {Im} z_{0}>0, \quad \alpha \in \mathbb {R}\).
2.3.3 Unit disk to the upper half-plane
We seek the inverse of the previous map:
\[ we^{-i\alpha } (z - \overline{z_0}) = z - z_0 \iff z = \frac{we^{-i\alpha }\overline{z_0} - z_0}{we^{-i\alpha } - 1} = \frac{we^{-2i\operatorname {arg}z_0} - e^{i\alpha }}{w - e^{i\alpha }}z_0 = \frac{we^{-2i\beta } - e^{i\alpha }}{w - e^{i\alpha }}r \cdot e^{i\beta } \]
So, every conformal map from the unit disk \(\{ w:|w|<1\}\) to the upper half-plane \(\{ z: \operatorname {Im} z>0\}\) has the form
\[ w(z)=\frac{z e^{-2i\beta } - e^{i\alpha }}{z - e^{i\alpha }}r \cdot e^{i\beta } \]
where \(r > 0, \beta \in (0,\pi ), \quad \alpha \in \mathbb {R}\).
The simplest example: \(\alpha = 0\), \(\beta = \pi /2\), \(r= 1\),
\[ w(z) = \frac{-z - 1}{z-1}i = \frac{1 + z}{1 - z}i \]
2.3.4 Unit disk to the unit disk
Every conformal map from the disk \(\{ z:|z|<1\}\) onto the disk \(\{ w:|w|<1\}\) has the form
\[ w(z)=\frac{z-z_{0}}{1-\bar{z}_{0}z} \cdot e^{i \alpha } \]
where \(\left|z_{0}\right|<1, \quad \alpha \in \mathbb {R}\).
2.3.5 Upper half-plane to the upper half-plane
Every conformal map from the upper half-plane \(\{ z: \operatorname {Im} z>0\}\) onto the upper half-plane \(\{ w: \operatorname {Im} w>0\}\) has the form
\[ w(z)=\frac{a z+b}{c z+d} \]
where \(a, b, c, d \in \mathbb {R}\) and \(a d-b c>0\).