Finding a Partition for a floor function

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I need to find a partition. The question is this

by theorem 6.2.2, the function $f(x)=\lfloor{x}\rfloor$ with $x \in [0,4]$ is Riemann integrable. Thus for any $\epsilon >0$, there exists a partition $P$ of $[0,4]$ s.t. $U(p,f)-L(p,f)< \epsilon$. Find such a partition.

Theorem 6.2.2 is "if a function $f:[a,b] \rightarrow \mathbb{R}$ is monotone, $f \in \mathscr{R}[a,b]$

The main things I'm wondering about is if I've computed the upper and lower sums correctly (particularly the upper), and how to continue from here.

I may be doing this wrong, but it seemed like an obvious move to make the partition look like $[0,1] \cup[1,2]\cup[2,3]\cup[3,4]$. So then the lower sum is

$$L(p,f)= \sum m_i (x_i-x_{i-1}) = 0(1-0)+1(2-1)+2(3-2)+3(4-3)$$ which boils down to $0+1+2+3=6$

Since it's a floor function, the upper and lower sums should be the same as $m_i$ and $M_i$ should be the same values. Which also means $U(p,f)-L(p,f)$ should be less than epsilon since for this it would be 0. Is this correct? Any tips for how to continue? Or how to formally write this up?

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What you've done so far is fine. Do the same thing for the upper sum. (Or you can simply note that since the function is constant on each sub-interval of the partition, the upper and lower sums will be the same.) Then, as you've noted, any $\varepsilon>0$ will work.