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Baker–Campbell–Hausdorff theorem

Statement

Assume ACω. Let G be a finite-dimensional real Lie group with Lie algebra g. For every chosen local logarithm there is an open neighborhood W of (0,0) in g×g such that Dynkin's series converges for (X,Y)∈W and

log⁡G(exp⁡G(X)exp⁡G(Y))=BCH⁡(X,Y).

Consequently, for every (X,Y)∈W,

exp⁡G(X)exp⁡G(Y)=exp⁡G(BCH⁡(X,Y)).

The neighborhood can be chosen inside any convergence ball supplied by the preceding convergence lemma and so that the product remains in the fixed domain of log⁡G.

Facts & Assumptions

Given: ACω, a finite-dimensional real Lie group G, a fixed norm on g, and one local logarithm log⁡G:U→V associated with exp⁡G∣V.

[F1]

The local logarithm is the inverse of the exponential on the specified open neighborhoods, and Dynkin's BCH series converges absolutely on a sum-norm ball and uniformly on smaller closed balls. Local logarithm on a Lie group. Local convergence of the Baker–Campbell–Hausdorff series.

[F2]

Right-trivialization of dexp⁡Z is the entire operator series D(ad⁡Z)=∑n≥0ad⁡Zn/(n+1)!, and the linear-ODE exponential is its operator power series, uniformly on compact parameter intervals. Right-trivialized differential of the Lie-group exponential.

[F3]

The adjoint map is a smooth representation and, assuming countable choice, Ad⁡exp⁡Z=ead⁡Z. The Axiom of Countable Choice (ACω). Adjoint is a smooth Lie-group representation. Adjoint exponential identity.

[F4]

The curve t↦exp⁡G(tZ) is the integral curve of ZL through e; translations give the tangent trivializations; and differentials obey the chain rule. One-parameter subgroups are integral curves of left-invariant fields. Left and right translations on a Lie group. The chain rule for differentials of smooth maps.

[F5]

Formal exponential and logarithm over a commutative rational algebra are inverse, where log⁡(1+w)=∑j≥1(−1)j−1wj/j. Formal exponential, logarithm, and binomial powers over a commutative Q-algebra. Formal exp⁡ and log⁡ are inverse homomorphisms and formal binomial powers obey the expected addition laws.

[F6]

The scalar exponential series converges everywhere, and a geometric series converges when its ratio has absolute value less than one. The exponential series converges absolutely for every real argument. For ∣r∣<1, ∑k≥0rk=1/(1−r), and for ∣r∣≥1 the series diverges.

Proof

technique · direct analytic identification with Dynkin's series
1.1F1F4F7

By [F1], choose a BCH convergence ball. The smooth map Φ(t,X,Y)=exp⁡G(tX)exp⁡G(tY) sends [0,1]×{(0,0)} to e∈U. Apply the tube lemma to Φ−1(U) and intersect the resulting neighborhood of (0,0) with a sufficiently small sum-norm ball. For (X,Y) in this neighborhood, put g(t)=Φ(t,X,Y) and H(t)=log⁡G(g(t)); then H is smooth, H(0)=0, and exp⁡G(H(t))=g(t) for all 0≤t≤1.

2.1F2F3F4step 1.1

Right-trivializing the derivative of the product and using the two one-parameter-subgroup equations gives d(Rg(t)−1)g(t)g′(t)=X+Ad⁡exp⁡G(tX)Y=X+etad⁡XY. Applying [F2] to g(t)=exp⁡G(H(t)) therefore gives D(A(t))H′(t)=X+etad⁡XY, where A(t)=ad⁡H(t) and D(A)=∑n≥0An/(n+1)!.

2.2F2F3F7step 1.1

Since Ad⁡ is a representation, [F3] and step 1.1 give eA(t)=Ad⁡exp⁡H(t)=etad⁡Xetad⁡Y. Put P(t)=etad⁡Xetad⁡Y−I. Continuity and the tube lemma allow a further shrinking, uniform in t∈[0,1], so that ∥P(t)∥<q<1 and H(t) remains in a fixed small coordinate ball.

3.1F5F6step 2.1step 2.2

Define Q(P)=∑j≥0(−1)jPj/(j+1). It converges absolutely for ∥P∥<1 by [F6]. In the commutative formal subalgebra generated by one indeterminate z, [F5] gives log⁡(ez)=z, hence D(z)Q(ez−1)=1. Absolute operator convergence permits substitution z=A(t) and coefficientwise multiplication, so Q(P(t)) is the two-sided inverse of D(A(t)). Thus step 2.1 becomes H′(t)=∑j≥0(−1)jP(t)j(X+etad⁡XY)/(j+1).

4.1F2F6F7step 2.2step 3.1

Expand P(t) by [F2]: P(t)=∑m,n≥0, m+n>0tm+nad⁡Xmad⁡Yn/(m!n!). The bound ∥P(t)∥≤q<1, together with exponential scalar majorants after one further shrinking, makes the expansions in step 3.1 jointly absolutely and uniformly convergent on [0,1]. In finite coordinates [F7] therefore permits termwise multiplication, regrouping, and integration.

5.1F1step 4.1algebra

A term with k−1 positive blocks from P(t)k−1 followed by the terminal X has word degree N, coefficient (−1)k−1/k, and power tN−1; a term followed by etad⁡XY has the same description, with final block XmY and again power tN−1. Every other possible final block in Dynkin's formula has at least two terminal equal letters and its right-nested commutator is zero. Hence integration from zero to one contributes the factor 1/N and gives exactly the full degree-N Dynkin polynomial HN(X,Y).

6.1F1F7step 1.1step 4.1step 5.1

By vector-valued FTC and step 1.1, H(1)=∫01H′(t) dt. Steps 4.1–5.1 and the uniform convergence in [F1] identify this integral with ∑N≥1HN(X,Y)=BCH⁡(X,Y). Since H(1)=log⁡G(exp⁡GXexp⁡GY), the logarithmic identity follows; applying exp⁡G and using [F1] gives the asserted product identity.

7.1F1F2F3F4F5F6F7step 1.1step 2.1step 2.2step 3.1step 4.1step 5.1step 6.1∎

A Lie group contains its identity. In dimension zero the identities are the unique identities, and in dimension one the bracket vanishes so BCH is X+Y and the local product is additive in exponential coordinates. No adjoint endomorphism is assumed invertible: step 3.1 inverts D(A) by a convergent series and never divides by A. Both endpoints of [0,1] occur in steps 1.1 and 6.1. The only choice principle is ACω, inherited exactly through the local logarithm, exponential, and adjoint-exponential suppliers in [F1]–[F4]; all shrinkings select finitely many single witnesses. No metric independence beyond the arbitrary auxiliary norm and no biconditional is asserted.

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