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Groupe de Lie

This document discusses properties of the matrix exponential map and its relationship to Lie groups and algebras in the context of linear groups. Key points: - The matrix exponential map exp: Mn(K) → Mn(K) is well-defined and has basic properties like exp(A+B)=exp(A)exp(B) for commuting A,B. - For a linear Lie group G ≤ GLn(K), the exponential map provides a local diffeomorphism between the Lie algebra Lie(G) and G. - A homomorphism φ: G1 → G2 between linear Lie groups induces a Lie algebra homomorphism Lie(φ): Lie(G1) → Lie(G

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Marco Campagna
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43 views6 pages

Groupe de Lie

This document discusses properties of the matrix exponential map and its relationship to Lie groups and algebras in the context of linear groups. Key points: - The matrix exponential map exp: Mn(K) → Mn(K) is well-defined and has basic properties like exp(A+B)=exp(A)exp(B) for commuting A,B. - For a linear Lie group G ≤ GLn(K), the exponential map provides a local diffeomorphism between the Lie algebra Lie(G) and G. - A homomorphism φ: G1 → G2 between linear Lie groups induces a Lie algebra homomorphism Lie(φ): Lie(G1) → Lie(G

Uploaded by

Marco Campagna
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Lie Groups I

Third Assistantship

Matrix exponential
Recall that if K is R or C and Mn (K) is the set of n nmatrices with coefficients in K the
exponential map

X
Ai
exp : Mn (K) Mn (K),
exp(A) =
i!
i=0
is well defined (for example by the Comparison Test).
The following problems shows some of its basic properties
Problem 1. Prove the following:
1.-If A, B Mn (K) commute then exp(A + B) = exp(A) exp(B)
2.-exp(Mn (K)) Gln (K)
3.-If B Gln (K) then B exp(A)B 1 = exp(BAB 1 ).
 j ij
Pi
i
Solution 1.- For all i N we have (A + B)i =
so we can use the Cauchy
j=0 j A B
Product Formula
exp(A + B) =
=

X
(A + B)i
i=0

i!
Pi

i
j=0 j

i=0
X
i
X

 j ij
AB

i!

Aj B ij
j! (i j)!
i=0 j=0
X
 X


Ai
Bi
=
i!
i!
i=0
i=0

= exp(A) exp(B).
2.-From Problem 1.1 we have exp(A) exp(A) = exp(A A) = exp(0) = Id.
3.-For all i N we have (BAB 1 )i = BAi B 1 so
X


X
Ai
BAi B 1
1
B exp(A)B = B
B 1 =
= exp(BAB 1 ).
i!
i!
i=0
i=0
The next problem shows help to determine the Lie algebra of linear Lie groups.
Problem 2. There is an open neighbourhood U of the origin such that
exp |U : U exp(U ) Gln (K)
is a diffeomorphism.
1

Solution. exp is a smooth map because it is a power series convergent in all Mn (K). The
differential of exp in A, call it d exp(A), is the limit of the differentials of the convergent power
series in A (so it exists and is smooth!). Finally d exp(0) = Id so by the Inverse Function
Theorem the result follows.
Recall that the exponential map for arbitrary KLie groups (G, ) is defined in the following
way:
For v Lie(G) there is a unique homomorphism of Lie groups
v : (R, +) G
such that it solves the initial value problem
v (0) = 1

and

v0 (t) = v (t)x for all t R

(1)

Define
expG : Lie(G) G,

exp(v) = v (1).

The next problem shows that in the linear case both definitions coincide.
Problem 3. If G GLn (K) is a Lie subgroup, then both definitions of exponential map
coincide.
Solution. Let A Lie(G). We are going to show that if A Lie(G) then
A : R G,

A (t) = exp(tA)

is a solution of (1). Indeed by Problem 1.1


A (t + h) A (t)
h0
h
exp((t + h)A) exp(tA)
= lim
h0
h
exp(tA) exp(hA) exp(tA)
= lim
h0
h
exp(hA) Id
= exp(tA) lim
h0
h
0
= A (t)A (0)

A0 (t) = lim

= A (t)A

and A (1) = exp(A) so the definitions coincide.


As we mentioned Problem 3 provides an important tool to determine the Lie algebras of
G GLn (K). The idea is that assuming U and G are connected then Lie(G) Mn (K)
and expG |U Lie(G) is a diffeomorphism; In particular U Lie(G) is an open set that contains the
origin so for all v Lie(G) there is a > 0 such that v U Lie(G) so Lie(G) is determined.
The following problem is a nice example of this. (In this problem we assume, as we already
did, that Lie(GLn (R)) = Mn (R)).
Problem 4. Show that
Lie(On (R)) = Lie(SOn (R)) = {A Mn (R) : A + AT = 0}.
Solution. Since SOn (R) is the connected component of Id in On (R) we have the first equality.
Note that {A Mn (R) : A + AT = 0} is a Lie subalgebra of Mn (R) (for example if A, B are in
2

the Lie algebra [A, B]+[A, B]T = ABBA+(AB)T (BA)T = ABBA+(B T A+AT B) = 0).
If U is like in Problem 2, then
U {A Mn (R) : A + AT = 0} U Lie(SOn (R));
Indeed if A U {A Mn (R) : A + AT = 0} then A + AT = 0 and A, AT commute so by
Problem 1.1 exp(A)T = exp(AT ) = exp(A)1 and as in Problem 2
exp |U Lie(SOn (R)) : U Lie(SOn (R)) U SOn (R)
is a diffeomorphism. In particular
{A Mn (R) : A + AT = 0} Lie(SOn (R));
On the other hand
 
n
dim{A Mn (R) : A + A = 0} =
= dim SOn (R) = dim Lie(SOn (R)).
2
T

and the result follows.

Lie functor in the Linear case


As we saw last section the exponential map in the linear group case has an explicit expression
so it is easier to study the Lie functor. In this section linear group means a Lie subgroup of
GLn (R).
Given a linear Lie group G GLn (K) there is a Lie algebra associated with G
G Lie(G).
Let G1 , G2 GLn (K) and : G1 G2 a morphism of Lie groups then it induces a morphism
between their Lie algebras. First we give two formulas (we do not prove them but they are easy
to show; If you wish you can prove it or you can consult the proof in Structure and Geometry
of Lie groups, Hilgert and Neeb, page 59 ) that will be used in the proof: If A, B Mn (K)




n
1
1
lim exp
A exp
B
= exp(A + B)
(2)
n
n
n
and


lim


exp







n
1
1
1
1
A exp
B exp A exp B
= exp([A, B])
n
n
n
n

(3)

Problema 5. If : G1 G2 is a morphism of linear Lie groups, then there is a funcction


Lie() such that the following diagram commutes

G1

x
expG

G2
x
expG

Lie()

Lie(G1 ) Lie(G2 )
Solution. First define the function A (t) = expG1 (tA) and note that
( A )(t) = expG2 (tB)
3

(4)

for

this can be seen taking


d
B := ( A )(t)
dt t=0

d
dt

expG2 (tB) in (4). On the other hand if we define


0


d
Lie()(A) := ( A )(t)
dt 0
we have by (4) that ( A )(t) is a solution of the initial value problem

d
(t) = Lie()(A)(s),
(0) = 1;
dt t=s
By definition of expG2
(expG2 Lie())(A) = ( expG1 )(A)
Problema 6. With the notation and definitions as above
Lie() : Lie(G1 ) Lie(G2 ),
is a morphism of Lie algebras.
Solution. First note that for all K and A Lie(G1 )
Lie()(A) = Lie()(A)

We prove Lie() is additive. For any A, B Lie(G1 ) take K such that Lie()(A), Lie()(B), Lie()((
B)) U where U is as in Problem 2.
expG2 Lie()(A + B) = (expG1 (A + B))

n 




1
1
A expG1
B
by (2)
= lim expG1
n
n
n

 

 
n
1
1
= lim expG1
A expG1
B
n
n
n




n


1
1
= lim expG2 Lie()
A
expG2 Lie()
B
n
n
n
= expG2 (Lie()(A) + Lie(B)))
by (2);
Since expG2 |U is bijective we have
Lie()(A + B) = Lie()(A) + Lie()(B)
so
Lie()(A + B) = Lie()(A) + Lie()(B)

Finally for any A, B Lie(G1 ) take K such that Lie()(A), Lie()(B), Lie()([A+B])
U with U as in Problem 2
expG2 (Lie()([A, B])) = (expG1 ([A, B]))



n 


1
1
A expG1
B
= lim expG1
n
n
n


n 



1
1
by (3)
lim expG1 A expG1 B
n
n
n

 

 
n
1
1
= lim expG1
A expG1
B
n
n
n
 

n
 

1
1
lim expG1 A expG1 B
n
n
n






n
1
1
= lim expG2 Lie()
A
expG2 Lie()
B
n
n
n



n



1
1
expG2 Lie() B
lim expG2 Lie() A
n
n
n
= expG2 ([Lie()(A), Lie()(B)])
by (3);
Since expG2 |U is bijective we have
Lie()([A, B]) = [Lie()(A), Lie()(B)]
so
Lie()([A, B]) = [Lie()(A), Lie()(B)].
It is not difficult to prove that Lie() is the unique linear map such that the diagram of Problem
5 commutes and we leave it as an exercise.
Problema 7. If : G1 G2 and : G2 G3 are homomorphisms of linear Lie groups, then
Lie( ) = Lie() Lie().
Solution. From Problem 6 we have

G1

x
expG

G2
x
expG

Lie()

Lie(G1 ) Lie(G2 )
and

G2

x
expG

G3
x
expG

Lie()

Lie(G2 ) Lie(G3 )
commute so the diagram
G1
x
expG

G3
x
expG

Lie()Lie()

Lie(G1 ) Lie(G3 )
commutes and the uniqueness of the linear map Lie( ) implies the result.
5

Extra Exercises
Problema 8. Show exp : Mn (K) Mn (K) is not a polynomial.
Problema 9. Find a Lie subalgebra g Mn (C) isomorphic to Lie(Un (C)).
Problema 10. Prove (2) and (3).
Problema 11. Prove Lie() is the unique linear map such that the diagram of Problem 5
commutes.

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