An Introduction to Lie Groups
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To prepare for the next chapters, we present some basic facts about Lie groups. Alternative expositions and additional details can be obtained from Abraham and Marsden , Olver , and Sattinger and Weaver . In particular, in this book we shall require only elementary facts about the general theory and a knowledge of a few of the more basic groups, such as the rotation and Euclidean groups.
KeywordsInfinitesimal Generator Coadjoint Action Galilean Group Commutator Bracket Polar Decomposition Theorem
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