5430067C9C99
The conjugate of a finite convex function is in general finite only on a convex subset of the dual space. We therefore allow convex functions to take the value $+\infty $, and we impose lower semicontinuity as the regularity condition that controls their behavior at the boundary of the set where they are finite. The definitions and results of this section and the next are stated on $N_{\mathbb R}$; they apply equally to functions on $M_{\mathbb R}$, with the roles of the two spaces interchanged.
Definition 21.2.1.4A9F1082E9C2 A function $F\colon N_{\mathbb R}\to [-\infty ,+\infty ]$ is convex if its epigraph
\[ \operatorname {epi}F=\{ (x,r)\in N_{\mathbb R}\times \mathbb R:r\geq F(x)\} \]
is convex. A convex function is proper if it does not take the value $-\infty $ and its effective domain $\operatorname {dom}F=\{ x:F(x)<+\infty \} $ is nonempty; a proper convex function is closed if it is lower semicontinuous. The relative interior $\operatorname {ri}C$ of a convex set $C$ is its interior in its affine span, and $\overline C\setminus \operatorname {ri}C$ is its relative boundary. For a proper convex function $F$ and $x\in \operatorname {dom}F$, the subgradient set of $F$ at $x$ is
\[ \partial F(x)=\{ p\in M_{\mathbb R}:F(y)\geq F(x)+\langle p,y-x\rangle \text{ for every }y\in N_{\mathbb R}\} . \]
Its elements are the subgradients, or supporting slopes, of $F$ at $x$: they are the slopes of the affine functions that lie below $F$ and agree with $F$ at $x$. We set $\partial F(x)=\varnothing $ for $x\notin \operatorname {dom}F$ and $\partial F(E)=\bigcup _{x\in E}\partial F(x)$ for $E\subset N_{\mathbb R}$.
For a function $F$ with values in $(-\infty ,+\infty ]$, the epigraph is convex if and only if $F((1-\lambda )x+\lambda y)\leq (1-\lambda )F(x)+\lambda F(y)$ for all $x,y\in N_{\mathbb R}$ and $0<\lambda <1$. Indeed, suppose that the epigraph is convex. If $F(x)$ and $F(y)$ are finite, the inequality expresses that the corresponding combination of $(x,F(x))$ and $(y,F(y))$ lies in $\operatorname {epi}F$; otherwise its right side is $+\infty $. Conversely, for $(x,r),(y,s)\in \operatorname {epi}F$ the inequality gives $F((1-\lambda )x+\lambda y)\leq (1-\lambda )r+\lambda s$. Thus definition
21.2.1 extends the usual notion of a convex function, with the sign convention fixed in the Conventions, to functions with values in $[-\infty ,+\infty ]$. The effective domain of a convex function is convex, being the image of its epigraph under the projection to $N_{\mathbb R}$.
A convex set contains every convex combination $\sum _{i=1}^ q\lambda _ ix_ i$ of its points, where $\lambda _ i\geq 0$ and $\sum _ i\lambda _ i=1$: for $q\geq 2$ and $\lambda _ q<1$ this follows by induction on $q$ from $\sum _ i\lambda _ ix_ i=(1-\lambda _ q)\sum _{i<q}\frac{\lambda _ i}{1-\lambda _ q}x_ i+\lambda _ qx_ q$. Consequently, the convex hull of a set $S$, that is, the smallest convex set containing $S$, is the set of all convex combinations of points of $S$, since this set is convex and contains $S$. Applied to the epigraph, the same fact gives the finite form of Jensen's inequality
\[ F\Bigl (\sum _{i=1}^ q\lambda _ ix_ i\Bigr )\leq \sum _{i=1}^ q\lambda _ iF(x_ i) \]
for every convex function $F$ with values in $(-\infty ,+\infty ]$ and every convex combination.
A function with values in $(-\infty ,+\infty ]$ is lower semicontinuous if and only if its epigraph is closed in $N_{\mathbb R}\times \mathbb R$. Indeed, if $F$ is lower semicontinuous and $(x_ k,r_ k)\in \operatorname {epi}F$ converge to $(x,r)$, then $F(x)\leq \varliminf _ kF(x_ k)\leq r$. Conversely, if the epigraph is closed and $x_ k\to x$ with $\varliminf _ kF(x_ k)<r<F(x)$ for some real $r$, then $(x_ k,r)\in \operatorname {epi}F$ for infinitely many $k$, and in the limit $(x,r)\in \operatorname {epi}F$, which is impossible.
A finite convex function is a real-valued one. A finite convex function $F$ on an open convex set $\Omega \subset N_{\mathbb R}$ is identified with the proper convex function on $N_{\mathbb R}$ that equals $F$ on $\Omega $ and $+\infty $ elsewhere; this extension is convex, since its convexity inequality is trivial when $x$ or $y$ lies outside $\Omega $. In particular, $\partial F(x)$ is defined for $x\in \Omega $. The subgradient notation $\partial F$ is unrelated to the boundary $\partial E$ of a set.
We shall need a Lipschitz bound on cubes. Let $Q'\subset Q$ be closed cubes with a common center and half-sides $\delta $ and $2\delta $ in affine coordinates on an affine subspace of $N_{\mathbb R}$, and let $|\cdot |$ be the Euclidean norm of these coordinates. If a convex function $F$ is finite on $Q$, with oscillation $\omega =\sup _ QF-\inf _ QF<\infty $, then
C59E34BB3C43
21.2.2
\begin{equation} |F(z)-F(y)|\leq \frac{\omega }{\delta }|z-y|\qquad (y,z\in Q'). \end{equation}
Indeed, for $y\neq z$ in $Q'$ the point $w=z+\delta (z-y)/|z-y|$ lies in $Q$, and $z=(1-\lambda )y+\lambda w$ with $\lambda =|z-y|/(|z-y|+\delta )\leq |z-y|/\delta $. Convexity gives $F(z)-F(y)\leq \lambda (F(w)-F(y))\leq (\omega /\delta )|z-y|$, and we may exchange $y$ and $z$.
Lemma 21.2.3.34526AA883B2 Let $W$ be a real vector space of finite dimension $n$, and let $C\subset W$ be convex.
If $C$ is closed and nonempty and $z\in W\setminus C$, there is a linear functional $\ell $ on $W$ with $\sup _ C\ell <\ell (z)$.
If $C$ is closed and $z$ is a boundary point of $C$ in $W$, there is a nonzero linear functional $\ell $ on $W$ with $\sup _ C\ell =\ell (z)$; that is, $C$ has a supporting hyperplane at $z$.
Every point of the convex hull of a set $S\subset W$ is a convex combination of affinely independent points of $S$, hence of at most $n+1$ points of $S$.
If $C\neq \varnothing $, then $\operatorname {ri}C\neq \varnothing $, and $(1-t)x_0+ty\in \operatorname {ri}C$ whenever $x_0\in \operatorname {ri}C$, $y\in \overline C$ and $0\leq t<1$. Moreover,
\[ \overline{\operatorname {ri}C}=\overline C,\qquad \operatorname {ri}C=\operatorname {ri}\overline C, \]
and the relative boundary of $C$ has Lebesgue measure zero in the affine span of $C$.
Proof.
Fix a Euclidean inner product $y\cdot w$ on $W$, with norm $|y|$.
(1) Choose $y_ k\in C$ with $|z-y_ k|\to \inf _{w\in C}|z-w|$. The sequence $(y_ k)$ is bounded, so a subsequence converges to a point $y$, which lies in $C$ because $C$ is closed. Thus $y$ minimizes the distance to $z$ on $C$, and $y\neq z$. For $w\in C$ and $0\leq t\leq 1$ the point $y+t(w-y)$ lies in $C$, so the function $t\mapsto |z-y-t(w-y)|^2$ on $[0,1]$ is minimal at $t=0$, and its derivative there, $-2(z-y)\cdot (w-y)$, is nonnegative. Hence $\ell (w)=(z-y)\cdot w$ satisfies $\ell (w)\leq \ell (y)=\ell (z)-|z-y|^2<\ell (z)$ for every $w\in C$.
(2) Since $z$ is a boundary point of $C$, there are points $z_ k\notin C$ with $z_ k\to z$. By (1) there are unit vectors $a_ k$ with $a_ k\cdot w<a_ k\cdot z_ k$ for all $w\in C$. A subsequence of $(a_ k)$ converges to a unit vector $a$, and in the limit $a\cdot w\leq a\cdot z$ for all $w\in C$. As $z\in C$, the functional $\ell (w)=a\cdot w$ has the required property.
(3) Let $x=\sum _{i=1}^ q\lambda _ ix_ i$ with $x_ i\in S$, $\lambda _ i>0$ and $\sum _ i\lambda _ i=1$. If the points $x_ i$ are affinely dependent, the vectors $(x_ i,1)\in W\times \mathbb R$ are linearly dependent, say $\sum _ i\mu _ i(x_ i,1)=0$ with not all $\mu _ i$ zero. Since $\sum _ i\mu _ i=0$, some $\mu _ i$ is positive. Replacing each $\lambda _ i$ by $\lambda _ i-s\mu _ i$, where $s=\min \{ \lambda _ i/\mu _ i:\mu _ i>0\} $, preserves $\sum _ i\lambda _ i$ and $\sum _ i\lambda _ ix_ i$, keeps all coefficients nonnegative and makes at least one of them zero. We discard the points with zero coefficient and repeat. Eventually the remaining points are affinely independent, and an affinely independent subset of $W$ has at most $n+1$ elements.
(4) Let $A$ be the affine span of $C$, of dimension $k$, and write $B_ A(x,r)$ for the open ball of $A$ with center $x$ and radius $r$. If $k=0$, then $C$ is a point, equal to its relative interior and to its closure, and its relative boundary is empty; so assume $k\geq 1$. A maximal affinely independent subset of $C$ spans an affine subspace containing $C$, hence equal to $A$, so it consists of $k+1$ points $x_0',\ldots ,x_ k'$. Every point $y\in A$ has unique barycentric coordinates $\lambda _ i(y)$, which are affine functions of $y$ with $\sum _ i\lambda _ i(y)=1$ and $y=\sum _ i\lambda _ i(y)x_ i'$. At the barycenter $c$ of the simplex with vertices $x_ i'$ all of them equal $1/(k+1)$, so they are positive on a ball $B_ A(c,r)$; every point of this ball is then a convex combination of the $x_ i'$ and lies in $C$. Hence $c\in \operatorname {ri}C$.
Now let $x_0\in \operatorname {ri}C$, choose $r>0$ with $B_ A(x_0,r)\subset C$, and let $y\in \overline C$ and $0\leq t<1$. If $y\in C$, convexity gives $B_ A((1-t)x_0+ty,(1-t)r)=(1-t)B_ A(x_0,r)+ty\subset C$. In general choose $y_ k\in C$ with $y_ k\to y$; then $B_ A((1-t)x_0+ty_ k,(1-t)r)\subset C$, and for large $k$ this ball contains $B_ A((1-t)x_0+ty,(1-t)r/2)$. Thus $(1-t)x_0+ty\in \operatorname {ri}C$. Letting $t\uparrow 1$, we see that every point of $\overline C$ is a limit of points of $\operatorname {ri}C$, so $\overline{\operatorname {ri}C}=\overline C$. Next, $\operatorname {ri}C\subset \operatorname {ri}\overline C$, since both are interiors in the same affine space $A$. Conversely, if $x\in \operatorname {ri}\overline C$, then $y=x+\varepsilon (x-c)$ lies in $\overline C$ for small $\varepsilon >0$, and $x=(1-t)c+ty$ with $t=1/(1+\varepsilon )<1$; hence $x\in \operatorname {ri}C$.
For the measure assertion, translate so that $c=0$ and identify $A$ with $\mathbb R^ k$ by a linear isomorphism, which changes Lebesgue measure on $A$ only by a constant factor. Let $Z=\overline C\setminus \operatorname {ri}C$ be the relative boundary; it is closed in $A$, because $\operatorname {ri}C$ is open in $A$, hence Borel, and $0\notin Z$. We claim that the dilates $sZ$, $s>0$, are pairwise disjoint. Indeed, suppose that $sz=s'z'$ with $z,z'\in Z$ and $0<s<s'$. Then $z'=(s/s')z$ is of the form $(1-t)\cdot 0+tz$ with $z\in \overline C$ and $0<t<1$, so $z'\in \operatorname {ri}C$ by what we have just shown, which is impossible. Now fix $R>0$ and put $Z_ R=Z\cap B(0,R)$. The sets $sZ_ R$ with $s$ rational in $[\frac12,1]$ are pairwise disjoint subsets of $B(0,R)$, and each has measure $s^ k|Z_ R|\geq 2^{-k}|Z_ R|$. Since infinitely many of them fit into a set of finite measure, $|Z_ R|=0$. Letting $R\to \infty $, we obtain $|Z|=0$.
$\square$
Proposition 21.2.4.72D7B299EAB8 Let $F$ be a proper convex function on $N_{\mathbb R}$. Then $F$ is locally Lipschitz on $\operatorname {ri}(\operatorname {dom}F)$, and $\partial F(x)\neq \varnothing $ for every $x\in \operatorname {ri}(\operatorname {dom}F)$. Now let $F$ be a finite convex function on an open convex set $\Omega \subset N_{\mathbb R}$. Then the following hold.
The sets $\partial F(x)$, $x\in \Omega $, are compact and bounded uniformly for $x$ in each compact subset of $\Omega $, and the graph $\{ (x,p):x\in \Omega ,\ p\in \partial F(x)\} $ is closed in $\Omega \times M_{\mathbb R}$.
For $x\in \Omega $ and $v\in N_{\mathbb R}$,
\[ F'(x;v)=\lim _{t\downarrow 0}\frac{F(x+tv)-F(x)}t =\max _{p\in \partial F(x)}\langle p,v\rangle . \]
$F$ is differentiable at $x\in \Omega $ if and only if $\partial F(x)$ is a singleton; in that case $\partial F(x)=\{ \nabla F(x)\} $, where $\nabla F(x)\in M_{\mathbb R}$ denotes the differential of $F$ at $x$.
$F$ is differentiable almost everywhere on $\Omega $. More precisely, the set $\Omega _ F$ of points of $\Omega $ at which $F$ is differentiable is a Borel set whose complement in $\Omega $ is a null set, and $\nabla F\colon \Omega _ F\to M_{\mathbb R}$ is a Borel map.
Proof.
We first show that $F$ is bounded, hence Lipschitz, near each point of $\operatorname {ri}(\operatorname {dom}F)$, and find a subgradient there by separation; then we prove (1)–(4). Let $A$ be the affine span of $\operatorname {dom}F$, of dimension $k$, and let $x\in \operatorname {ri}(\operatorname {dom}F)$. Choose affine coordinates on $A$ centered at $x$, with the associated Euclidean norm $|\cdot |$; since all norms on $A$ are equivalent, local Lipschitz continuity does not depend on this choice. For small $\delta >0$ the cube $Q$ of points of $A$ whose coordinates are at most $2\delta $ in absolute value lies in $\operatorname {dom}F$. Every point of $Q$ is a convex combination of the $2^ k$ vertices of $Q$; this follows by induction on $k$, since writing the last coordinate of a point as a convex combination of $\pm 2\delta $ exhibits the point as a convex combination of two points of the opposite faces of $Q$, which are cubes of dimension $k-1$. By the finite form of Jensen's inequality, $F\leq C$ on $Q$, where $C$ is the largest value of $F$ at a vertex. If $y\in Q$, then also $2x-y\in Q$, and $F(x)\leq \frac12(F(y)+F(2x-y))$ gives $F(y)\geq 2F(x)-C$. Thus $F$ is bounded on $Q$, and by (21.2.2) it is Lipschitz on the cube of half-side $\delta $ centered at $x$.
Next we construct a subgradient at $x$. Since $\operatorname {dom}F\subset A$, the epigraph of $F$ lies in $A\times \mathbb R$; let $E$ be its closure, a closed convex subset of $A\times \mathbb R$. Because $F$ is continuous at $x$ as a function on $A$, the points $(x,F(x)-\varepsilon )$, $\varepsilon >0$, do not belong to $E$, so $(x,F(x))$ is a boundary point of $E$ in $A\times \mathbb R$. By lemma 21.2.3(2), applied in $A\times \mathbb R$ with origin $(x,F(x))$, there are a linear functional $a$ on the linear subspace $A_0=\{ y-y':y,y'\in A\} $ parallel to $A$ and a real number $c$, not both zero, such that
\[ \langle a,y-x\rangle +c\, (s-F(x))\geq 0\qquad \text{for all }(y,s)\in E. \]
Letting $s\to +\infty $ shows that $c\geq 0$. If $c=0$, then $a\neq 0$ and $\langle a,y-x\rangle \geq 0$ for all $y\in \operatorname {dom}F$; but $\operatorname {dom}F$ contains a ball of $A$ about $x$, and this ball contains points $y$ with $\langle a,y-x\rangle <0$. Hence $c>0$, and taking $s=F(y)$ we obtain $F(y)\geq F(x)+\langle p_ A,y-x\rangle $ for $y\in \operatorname {dom}F$, where $p_ A=-a/c$. Extend $p_ A$ to a linear functional $p\in M_{\mathbb R}$. The inequality $F(y)\geq F(x)+\langle p,y-x\rangle $ holds for $y\in \operatorname {dom}F$, because then $y-x\in A_0$, and also for $y\notin \operatorname {dom}F$, where $F(y)=+\infty $. Thus $p\in \partial F(x)$.
From now on let $F$ be a finite convex function on the open convex set $\Omega $, so that $A=N_{\mathbb R}$ and $\operatorname {ri}(\operatorname {dom}F)=\Omega $. Fix a basis $e_1,\ldots ,e_ n$ of $N_{\mathbb R}$, let $K\subset \Omega $ be compact, and choose $r>0$ such that the set $K_ r=\{ y+\sum _ is_ ie_ i:y\in K,\ |s_ i|\leq r\} $ lies in $\Omega $. If $x\in K$ and $p\in \partial F(x)$, the subgradient inequality at $x$, evaluated at the points $x\pm re_ i$, gives $\pm r\langle p,e_ i\rangle \leq F(x\pm re_ i)-F(x)$, hence $|\langle p,e_ i\rangle |\leq 2r^{-1}\max _{K_ r}|F|$, where $F$ is bounded on the compact set $K_ r$ because it is continuous. This is the uniform bound in (1). If $x_ k\to x$ in $\Omega $, $p_ k\in \partial F(x_ k)$ and $p_ k\to p$, then letting $k\to \infty $ in $F(y)\geq F(x_ k)+\langle p_ k,y-x_ k\rangle $ and using that $F$ is continuous at $x$, we get $p\in \partial F(x)$. Thus the graph is closed, and each $\partial F(x)$ is closed and bounded, hence compact.
For (2) and (4) we use the following slope inequalities for a convex function $\phi $ on an interval: if $s_1<s_2<s_3$, then
7BAA42793D50
21.2.5
\begin{equation} \frac{\phi (s_2)-\phi (s_1)}{s_2-s_1}\leq \frac{\phi (s_3)-\phi (s_1)}{s_3-s_1}\leq \frac{\phi (s_3)-\phi (s_2)}{s_3-s_2}. \end{equation}
Indeed, $s_2=\lambda s_1+(1-\lambda )s_3$ with $\lambda =(s_3-s_2)/(s_3-s_1)\in (0,1)$, and the convexity inequality $\phi (s_2)\leq \lambda \phi (s_1)+(1-\lambda )\phi (s_3)$ is equivalent to each of the two inequalities. Now fix $x$ and $v$, and apply (21.2.5) to $\phi (t)=F(x+tv)$, which is convex on the open interval of those $t$ with $x+tv\in \Omega $: with $s_1=0$ it shows that the difference quotient in (2) is nondecreasing in $t>0$, so its limit as $t\downarrow 0$ exists in $[-\infty ,+\infty )$. Each $p\in \partial F(x)$ gives $F(x+tv)-F(x)\geq t\langle p,v\rangle $; hence $F'(x;v)\geq \max _{p\in \partial F(x)}\langle p,v\rangle $, the maximum being attained by compactness. Conversely, choose $p_ t\in \partial F(x+tv)$. The subgradient inequality at $x+tv$, evaluated at $x$, gives $F(x+tv)-F(x)\leq t\langle p_ t,v\rangle $. By (1) the vectors $p_ t$ stay bounded as $t\downarrow 0$, and each of their cluster points lies in $\partial F(x)$. Therefore $F'(x;v)\leq \varlimsup _{t\downarrow 0}\langle p_ t,v\rangle \leq \max _{p\in \partial F(x)}\langle p,v\rangle $.
For (3), suppose that $\partial F(x)=\{ p\} $, and choose $p_ h\in \partial F(x+h)$. By (1), every cluster point of $p_ h$ as $h\to 0$ lies in $\partial F(x)$, so $p_ h\to p$. The subgradient inequalities at $x$ and at $x+h$ give
\[ 0\leq F(x+h)-F(x)-\langle p,h\rangle \leq \langle p_ h-p,h\rangle =o(|h|), \]
so $F$ is differentiable at $x$, with $\nabla F(x)=p$. Conversely, if $F$ is differentiable at $x$ and $p\in \partial F(x)$, dividing $F(x+tv)-F(x)\geq t\langle p,v\rangle $ by $t$ and letting $t\downarrow 0$ gives $\langle \nabla F(x),v\rangle \geq \langle p,v\rangle $ for every $v$, hence $p=\nabla F(x)$. As $\partial F(x)\neq \varnothing $, it equals $\{ \nabla F(x)\} $.
For (4), fix $i$, and write $D_ i^+F(x)=F'(x;e_ i)$ and $D_ i^-F(x)=-F'(x;-e_ i)$ for the one-sided partial derivatives; they are finite by (2). Let $\phi $ be the restriction of $F$ to the intersection of $\Omega $ with a line parallel to $e_ i$, parametrized as $\phi (s)=F(y+se_ i)$ on an open interval. By (21.2.5), $\phi $ has one-sided derivatives $\phi '_\pm $ at every point, $\phi '_-(s)\leq \phi '_+(s)$, and $\phi '_+(s)\leq \phi '_-(s')$ whenever $s<s'$, because both are bounded by the slope of the chord from $s$ to $s'$. Hence the open intervals $(\phi '_-(s),\phi '_+(s))$ are pairwise disjoint; each nonempty one contains a rational number, so only countably many of them are nonempty, and $\phi '_-=\phi '_+$ outside a countable set. Next, $D_ i^+F$ is the pointwise limit on $\Omega $ of the Borel functions equal to $k(F(x+e_ i/k)-F(x))$ where $x+e_ i/k\in \Omega $ and to $0$ elsewhere, so it is a Borel function, and similarly for $D_ i^-F$. Thus the set $Z_ i\subset \Omega $ where $D_ i^+F\neq D_ i^-F$ is a Borel set that meets each line parallel to $e_ i$ in a countable set, and Fubini's theorem, in the coordinates of the basis $e_1,\ldots ,e_ n$, shows that $Z_ i$ is a null set. At a point $x\notin Z_1\cup \cdots \cup Z_ n$, (2) gives
\[ \max _{p\in \partial F(x)}\langle p,e_ i\rangle =D_ i^+F(x)=D_ i^-F(x)=\min _{p\in \partial F(x)}\langle p,e_ i\rangle \]
for every $i$, so all subgradients at $x$ coincide, and $F$ is differentiable at $x$ by (3). Conversely, if $F$ is differentiable at $x$, then $D_ i^+F(x)=D_ i^-F(x)=\langle \nabla F(x),e_ i\rangle $ for every $i$. Therefore $\Omega _ F=\Omega \setminus (Z_1\cup \cdots \cup Z_ n)$ is a Borel set with null complement, and the coordinates $\langle \nabla F,e_ i\rangle =D_ i^+F$ of $\nabla F$ are Borel functions on $\Omega _ F$.
$\square$
Proposition 21.2.6.EAC7AAEC7279 Let $F$ be a proper convex function on $N_{\mathbb R}$, and let $\overline F$ be its lower semicontinuous regularization, that is, the largest lower semicontinuous function on $N_{\mathbb R}$ that is at most $F$. Then $\overline F$ is a closed proper convex function, and $\overline F=F$ on $\operatorname {ri}(\operatorname {dom}F)$. A closed proper convex function is determined by its values on the relative interior of its effective domain. Finally, if a sequence of finite convex functions on an open convex set $\Omega \subset N_{\mathbb R}$ converges to a finite limit at each point of a dense subset of $\Omega $, then it converges locally uniformly on $\Omega $ to a finite convex function.
Proof.
By proposition 21.2.4, $F$ has a subgradient $p$ at some point $x_1\in \operatorname {ri}(\operatorname {dom}F)$, so $F$ lies above the affine function $\ell (y)=F(x_1)+\langle p,y-x_1\rangle $. The closure $E$ of $\operatorname {epi}F$ is convex, and it lies above the graph of $\ell $ because $\ell $ is continuous. Hence, for each $x$, the set $\{ r:(x,r)\in E\} $ is closed and bounded below by $\ell (x)$, and with each of its points $r$ it contains $[r,+\infty )$, because $\operatorname {epi}F$ has this property. So this set is either empty or a closed half-line $[\widetilde F(x),+\infty )$ with $\widetilde F(x)\geq \ell (x)>-\infty $. Setting $\widetilde F(x)=+\infty $ in the first case, we see that $E$ is the epigraph of a convex function $\widetilde F$. It is lower semicontinuous because its epigraph is closed, and $\widetilde F\leq F$, so $\operatorname {dom}\widetilde F\supset \operatorname {dom}F\neq \varnothing $. If $G\leq F$ is lower semicontinuous, then $\operatorname {epi}G$ is closed and contains $\operatorname {epi}F$, hence also $E$, and so $G\leq \widetilde F$. Thus $\widetilde F=\overline F$, which is therefore closed, proper and convex.
Let $x\in \operatorname {ri}(\operatorname {dom}F)$. If $(y_ k,r_ k)\in \operatorname {epi}F$ converge to $(x,r)$, then $y_ k$ lies in the affine span of $\operatorname {dom}F$, on which $F$ is continuous at $x$; hence $r\geq \lim _ kF(y_ k)=F(x)$. This shows $\overline F(x)\geq F(x)$, and so $\overline F(x)=F(x)$.
Now let $F$ be closed, fix $x_0\in \operatorname {ri}(\operatorname {dom}F)$, and let $x\in \overline{\operatorname {dom}F}$. By lemma 21.2.3(4), the points $(1-t)x_0+tx$ with $0\leq t<1$ lie in $\operatorname {ri}(\operatorname {dom}F)$, so the convex function $\phi (t)=F((1-t)x_0+tx)$ is finite on $[0,1)$. Convexity gives $\phi (t)\leq (1-t)\phi (0)+t\phi (1)$, hence $\varlimsup _{t\uparrow 1}\phi (t)\leq \phi (1)$, while lower semicontinuity gives $\varliminf _{t\uparrow 1}\phi (t)\geq \phi (1)$. Therefore
\[ F(x)=\lim _{t\uparrow 1}F((1-t)x_0+tx) \qquad (x\in \overline{\operatorname {dom}F}), \]
also when $F(x)=+\infty $. Since $F=+\infty $ outside $\overline{\operatorname {dom}F}$, which is the closure of $\operatorname {ri}(\operatorname {dom}F)$, the function $F$ is determined by its restriction to $\operatorname {ri}(\operatorname {dom}F)$.
Finally, let $(F_ j)$ be a sequence of finite convex functions on $\Omega $ converging to a finite limit at every point of a dense set $S\subset \Omega $. We show that near each point of $\Omega $ the functions $F_ j$ are uniformly bounded, hence uniformly Lipschitz, so that convergence on $S$ propagates to uniform convergence. Fix a basis of $N_{\mathbb R}$, write $Q(y,\rho )$ for the closed cube of half-side $\rho $ centered at $y$ in the corresponding coordinates, and let $x\in \Omega $ and $\rho >0$ with $Q(x,2\rho )\subset \Omega $. For each vertex $y$ of $Q(x,\rho )$ choose a point of $S$ whose coordinates differ from those of $y$ by less than $\rho /2$, and let $S_0\subset S\cap Q(x,2\rho )$ be the finite set of these points. Its convex hull $H$ is compact as the image of a simplex under a linear map, and it contains $Q(x,\rho /2)$. Indeed, let $\ell $ be a nonzero linear functional, $\ell (z)=\sum _ ia_ iz_ i$ in the chosen coordinates, and put $\| a\| =\sum _ i|a_ i|$. At a vertex $y^*$ of $Q(x,\rho )$ where $\ell $ is maximal, $\ell (y^*)=\ell (x)+\rho \| a\| $, and the point $s\in S_0$ chosen for $y^*$ satisfies $\ell (s)>\ell (y^*)-\frac\rho 2\| a\| =\max _{Q(x,\rho /2)}\ell $. Hence no point of $Q(x,\rho /2)$ can be separated from $H$ as in lemma 21.2.3(1).
The sequences $(F_ j(s))_ j$, $s\in S_0$, converge, so they are bounded above by some $C$, and the finite form of Jensen's inequality gives $F_ j\leq C$ on $H$ for all $j$. Choose $s_0\in S\cap Q(x,\rho /8)$. Then $Q(s_0,3\rho /8)\subset Q(x,\rho /2)$, and for $y\in Q(s_0,3\rho /8)$ the reflected point $2s_0-y$ lies in the same cube, so that $F_ j(y)\geq 2F_ j(s_0)-C\geq 2\inf _ kF_ k(s_0)-C$. Hence $|F_ j|\leq B$ on $Q(x,\rho /4)\subset Q(s_0,3\rho /8)$ for all $j$, with a constant $B$. By (21.2.2), applied with $\delta =\rho /8$ and $\omega \leq 2B$, the $F_ j$ are Lipschitz on $Q(x,\rho /8)$ with the common constant $L=16B/\rho $, for the Euclidean norm $|\cdot |$ of the chosen coordinates.
Given $\varepsilon >0$, choose a finite set $S_\varepsilon \subset S\cap Q(x,\rho /8)$ such that every point of $Q(x,\rho /8)$ lies within distance $\varepsilon /L$ of $S_\varepsilon $. To this end, cover the compact cube $Q(x,\rho /8)$ by finitely many balls of radius $\varepsilon /(2L)$ centered in the cube, and pick a point of the dense set $S$ in the intersection of each ball with the interior of the cube, a nonempty open set. For all sufficiently large $j,k$ we have $|F_ j-F_ k|<\varepsilon $ on $S_\varepsilon $, hence $|F_ j-F_ k|<3\varepsilon $ on $Q(x,\rho /8)$. Thus $(F_ j)$ is uniformly Cauchy on $Q(x,\rho /8)$. Finitely many such cubes cover any given compact subset of $\Omega $, so $(F_ j)$ converges locally uniformly to a finite continuous function, which is convex because the convexity inequalities pass to pointwise limits.
$\square$
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