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Elements of Information Theory Thomas M. Cover, Joy A. Thomas Copyright  1991 John Wiley & Sons, Inc. Print ISBN 0-471-06259-6 Online ISBN 0-471-20061-1 Elements of Information Theory
Elements of Information Theory Thomas M. Cover, Joy A. Thomas Copyright  1991 John Wiley & Sons, Inc. Print ISBN 0-471-06259-6 Online ISBN 0-471-20061-1 WILEY SERIES IN TELECOMMUNICATIONS Donald L. Schilling, Editor City College of New York Digital Telephony, 2nd Edition John Bellamy Elements of Information Theory Thomas M. Cover and Joy A. Thomas Telecommunication System Engineering, 2nd Edition Roger L. Freeman Telecommunication Transmission Handbook, 3rd Edition Roger L. Freeman Introduction Robert M. Gagliardi to Communications Engineering, 2nd Edition Expert System Applications Jay Liebowitz to Telecommunications Synchronization Heinrich Meyr and Gerd Ascheid in Digital Communications, Volume 1 Synchronization Heinrich Meyr and Gerd Ascheid (in preparation) in Digital Communications, Volume 2 Computational Methods of Signal Recovery and Recognition Richard J. Mammone (in preparation) Business Earth Stations for Telecommunications Walter L. Morgan and Denis Rouffet Satellite Communications: The First Quarter Century of Service David W. E. Rees Worldwide Telecommunications Guide for the Business Manager Walter L. Vignault
Elements of Information Theory THOMAS M. COVER Stanford University Stanford, California JOY A. THOMAS IBM T. 1. Watson Research Center Yorktown Heights, New York A Wiley-Interscience Publication JOHN WILEY & SONS, INC. New York / Chichester / Brisbane I Toronto I Singapore
Copyright  1991 by John Wiley & Sons, Inc. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system or transmitted in any form or by any means, electronic or mechanical, including uploading, downloading, printing, decompiling, recording or otherwise, except as permitted under Sections 107 or 108 of the 1976 United States Copyright Act, without the prior written permission of the Publisher. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 605 Third Avenue, New York, NY 10158-0012, (212) 850-6011, fax (212) 850-6008, E-Mail: PERMREQ@WILEY.COM. This publication is designed to provide accurate and authoritative information in regard to the subject matter covered. It is sold with the understanding that the publisher is not engaged in rendering professional services. If professional advice or other expert assistance is required, the services of a competent professional person should be sought. ISBN 0-471-20061-1. This title is also available in print as ISBN 0-471-06259-6 For more information about Wiley products, visit our web site at www.Wiley.com. Library of Congress Cataloging in Publication Data: Cover, T. M., 1938 — Elements of Information theory / Thomas M. Cover, Joy A. Thomas. p. cm. — (Wiley series in telecommunications) “A Wiley-Interscience publication.” Includes bibliographical references and index. ISBN 0-471-06259-6 1. Information theory. I. Thomas, Joy A. II. Title. III. Series. Q360.C68 1991 0030.54 — dc20 Printed in the United States of America 20 19 18 17 16 15 14 13 90-45484 CIP
To my father Tom Cover To my parents Joy Thomas
Preface to be a simple and accessible book on information This is intended theory. As Einstein said, “Everything should be made as simple as possible, but no simpler.” Although we have not verified the quote (first found in a fortune cookie), this point of view drives our development throughout the book. There are a few key ideas and techniques that, when mastered, make the subject appear simple and provide great intuition on new questions. This book has arisen from over ten years of lectures in a two-quarter sequence of a senior and first-year graduate level course in information theory, and is intended as an introduction theory for students of communication to information theory, computer science and statistics. inherent theory. First, certain quantities There are two points to be made about the simplicities in information like entropy and mutual information arise as the answers to fundamental questions. For exam- ple, entropy is the minimum descriptive complexity of a random vari- able, and mutual information is the communication rate in the presence of noise. Also, as we shall point out, mutual information corresponds to the increase in the doubling rate of wealth given side information. Second, the answers to information theoretic questions have a natural algebraic structure. For example, there is a chain rule for entropies, and entropy and mutual to problems in data compression and communication admit extensive interpretation. We all know the feeling that follows when one investi- gates a problem, goes through a large amount of algebra and finally investigates the answer to find that the entire problem is illuminated, not by the analysis, but by the inspection of the answer. Perhaps the outstanding examples of this laws and vii information are related. Thus in physics are Newton’s the answers
. . . Vlll PREFACE Schrodinger’s wave equation. Who could have foreseen the awesome philosophical interpretations of Schrodinger’s wave equation? In the text we often investigate properties of the answer before we look at the question. For example, in Chapter 2, we define entropy, relative entropy and mutual information and study the relationships and a few interpretations of them, showing how the answers fit together in various ways. Along the way we speculate on the meaning of the increase? The second law of thermodynamics. Does entropy always answer is yes and no. This is the sort of result that should please experts in the area but might be overlooked as standard by the novice. In fact, that brings up a point that often occurs in teaching. It is fun to find new proofs or slightly new results that no one else knows. When one presents these ideas along with in class, the response is “sure, sure, sure.” But the excitement of teaching the material is greatly enhanced. Thus we have derived great pleasure from investigating a number of new ideas in this text book. the established material the joint Examples of some of the new material in this text include the chapter on the relationship of information theory to gambling, the work on the universality of the second law of thermodynamics in the context of Markov chains, typicality proofs of the channel capacity theorem, the competitive optimality of Huffman codes and the proof of Burg’s theorem on maximum entropy spectral density estimation. AIso the chapter on Kolmogorov complexity has no counterpart in other theory texts. We have also taken delight in relating Fisher information information, mutual and en- tropy power inequalities. To our surprise, many of the classical results on determinant inequalities are most easily proved using information theory. information, and the Brunn-Minkowski Even though the field of information theory has grown considerably since Shannon’s original paper, we have strived to emphasize its coher- ence. While it is clear that Shannon was motivated by problems in communication theory, we treat information theory as a field of its own with applications to communica- tion theory and statistics. theory when he developed information We were drawn to the field of information communication apparent mation. theory, probability impossibility of capturing theory from backgrounds in theory and statistics, because of the the intangible concept of infor- Since most of the results in the book are given as theorems and proofs, we expect the elegance of the results to speak for themselves. In many cases we actually describe the properties of the solutions before introducing in them- selves and provide a natural rhythm the problems. Again, the properties are interesting for the proofs that follow. One innovation inequalities, with no intervening in the presentation text, is our use of long chains of followed immediately by the
PREFACE ix explanations. By the time the reader comes to many of these proofs, we expect that he or she will be able to follow most of these steps without any explanation and will be able to pick out the needed explanations. These chains of inequalities serve as pop quizzes in which the reader can be reassured of having the knowledge needed to prove some im- portant theorems. The natural flow of these proofs is so compelling that it prompted us to flout one of the cardinal rules of technical writing. And the absence of verbiage makes the logical necessity of the ideas evident and the key ideas perspicuous. We hope that by the end of the book the reader will share our appreciation of the elegance, simplicity and naturalness of information theory. Throughout the book we use the method of weakly typical sequences, which has its origins in Shannon’s original 1948 work but was formally developed in the early 1970s. The key idea here is the so-called asymp- totic equipartition property, which can be roughly paraphrased as is almost equally probable.” “Almost everything Chapter 2, which is the true first chapter of the subject, includes the basic algebraic relationships of entropy, relative entropy and mutual information as well as a discussion of the second law of thermodynamics and sufficient statistics. The asymptotic equipartition property (AKP) is given central prominence in Chapter 3. This leads us to discuss the entropy rates of stochastic processes and data compression in Chapters 4 and 5. A gambling sojourn is taken in Chapter 6, where the duality of data compression and the growth rate of wealth is developed. for information The fundamental idea of Kolmogorov complexity as an intellectual foundation theory is explored in Chapter 7. Here we replace the goal of finding a description that is good on the average with the goal of finding the universally shortest description. There is indeed a universal notion of the descriptive complexity of an object. Here also the wonderful number ti is investigated. This number, which is the binary expansion of the probability that a Turing machine will halt, reveals many of the secrets of mathematics. Channel capacity, which is the fundamental theorem in information theory, is established in Chapter 8. The necessary material on differen- tial entropy is developed in Chapter 9, laying the groundwork for the extension of previous capacity theorems to continuous noise channels. The capacity of the fundamental Gaussian channel is investigated in Chapter 10. information The relationship between first studied by Kullback in the early 195Os, and relatively neglected since, is developed in Chapter 12. Rate distortion theory requires a little more background its noiseless data compression counterpart, which accounts for its placement as late as Chapter 13 in the text, theory and statistics, than The huge subject of network information the simultaneously achievable flows of information theory, which is the study of in the presence of
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