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A real Lie algebra is compact when it is the Lie algebra of some compact Lie group. Equivalently, it has a positive-definite invariant bilinear form on a Lie algebra. It is a direct sum of an abelian center and a compact semisimple Lie algebra. For its semisimple part, the compactness criterion from the Killing form is negative-definiteness of the Killing form. This definition concerns the algebra; a global group with that algebra can still have a noncompact central covering direction.

For $[e_1,e_2]=a{e}_3$, $[e_2,e_3]=b{e}_1$, and $[e_3,e_1]=c{e}_2$, the Adjoint representation matrices give the displayed Killing form. Cross traces vanish. Nonzero $a,b,c$ make it nondegenerate and hence the algebra semisimple. If the three constants have the same sign it is negative-definite; mixed signs give signature $(2,1)$. In particular $(a,b,c)=(2,2,2)$ is the compact $\mathfrak{su}(2)$ case, whereas $(2,2,-2)$ is the split real traceless two-by-two algebra. This gives a direct compactness criterion from the Killing form in a small explicit example.

For a finite-dimensional Lie algebra, the Killing form is defined using the Adjoint representation on the algebra itself, rather than the given Lie algebra representation $d$:The Jacobi identity gives ${\mathrm{ad}}_{[X,Y]}=[{\mathrm{ad}}_X,{\mathrm{ad}}_Y]$. Using the cyclic property of the trace,The same trace identity makes the Killing form symmetric. For a basis $(t_a)$, the lowered structure constants of a Lie algebra are $c_{abc}=\kappa ([t_a,t_b],t_c)$. Antisymmetry of the Lie bracket gives $c_{abc}=-c_{bac}$, while invariance gives $c_{abc}=\kappa (t_a,[t_b,t_c])=-c_{acb}$. The two adjacent transpositions generate every permutation, proving the antisymmetry of Killing-lowered structure constants: $c_{abc}$ is totally antisymmetric, even if the Killing form is degenerate.

A semisimple Lie algebra has no nonzero solvable ideal; equivalently, its solvable radical is zero, or, in characteristic zero, its Killing form is nondegenerate. A real compact Lie algebra is the algebra of some compact Lie group, equivalently an algebra admitting a positive-definite invariant bilinear form on a Lie algebra. For a real semisimple Lie algebra the compactness criterion from the Killing form says precisely that $\kappa$ is negative-definite. A compact algebra with a nonzero abelian center has a degenerate Killing form, so the semisimplicity qualification matters.

For a semisimple Lie algebra, let ${\kappa }^{ab}$ denote the inverse matrix of ${\kappa }_{ab}=\kappa (t_a,t_b)$. Its Casimir operator in $d$ isThis contraction is independent of the chosen basis. To prove centrality directly, put $[X,t_b]=A^a{}_b{t}_a$. Invariance gives $A^{\mathsf{T}}\kappa +\kappa A=0$, hence $A{\kappa }^{-1}+{\kappa }^{-1}{A}^{\mathsf{T}}=0$. The Lie algebra representation property and the product rule for a commutator now giveIndeed, the coefficient of $d(t_c)d(t_b)$ in this expression is $(A{\kappa }^{-1}+{\kappa }^{-1}{A}^{\mathsf{T}}{)}^{cb}$. Thus $[d(X),C]=0$ for every $X$. No irreducibility of $d$ is required.

The matrix units obey $E_{ij}{E}_{pq}={\delta }_{jp}{E}_{iq}$. Consequently the general linear Lie algebra $\mathcal{M}={\mathfrak{gl}}_n(\mathbb{R})$ hasFor its Killing form, write $L_X(Z)=XZ$ and $R_X(Z)=ZX$, so that ${\mathrm{ad}}_X=L_X-R_X$. Left multiplication acts identically on each of the $n$ columns, and right multiplication identically on each of the $n$ rows. Thus $\mathrm{Tr}(L_X{L}_Y)=\mathrm{Tr}(R_X{R}_Y)=n\mathrm{tr}(XY)$. The diagonal coefficient of $L_X{R}_Y$ on $E_{ij}$ is $X_{ii}{Y}_{jj}$, giving $\mathrm{Tr}(L_X{R}_Y)=\mathrm{tr}X\mathrm{tr}Y$; the other mixed trace is identical. This proves the Killing form of the general linear Lie algebra:The scalar matrices form a nonzero central abelian ideal, so $\mathcal{M}$ is not semisimple for any $n\ge 1$. More explicitly, the radical of the Killing form is $\mathbb{R}I$, since vanishing against every $Y$ forces $nX-(\mathrm{tr}X)I=0$ by nondegeneracy of the trace pairing. For $n\ge 2$, take $H=E_{11}-E_{22}$. Then $\kappa (H,H)=4n>0$, whereas a positive-definite invariant inner product would make every adjoint map skew and hence give $\kappa (X,X)\le 0$. Therefore $\mathcal{M}$ is not compact when $n\ge 2$. For the allowed exceptional value $n=1$, the abstract abelian algebra $\mathbb{R}$ is a compact Lie algebra, being isomorphic to the algebra of $U(1)$; the particular matrix group $G{L}_1(\mathbb{R})$ is nevertheless noncompact. This distinguishes compactness of an algebra from that of a chosen group realizing it.

For the final algebra, the printed basis specifies strictly upper triangular matrices. If $i<j$ and $p<q$, the first term in $[E_{ij},E_{pq}]$ can be nonzero only when $i<j=p<q$, and then $E_{iq}$ is strictly upper triangular; the second can be nonzero only when $p<q=i<j$, and then $E_{pj}$ is strictly upper triangular. Bilinearity proves closure under the Lie bracket. To compute its own Killing form, grade $E_{ij}$ by the positive integer $j-i$. Bracketing with any basis element increases that degree whenever the result is nonzero. In a basis ordered by degree, all adjoint maps are strictly triangular, as are their products. Every such product has zero trace, so the Killing form of a nilpotent Lie algebra vanishes here. Therefore the subspace denoted by a prime in the PDF isThis is the defined radical of the Killing form, not the derived algebra; for $n=1$ both $\mathcal{L}$ and this radical are zero.

For a finite-dimensional Lie algebra, write $A_X=\mathrm{ad}X$ for its Adjoint representation. The Killing form is the symmetric bilinear formThe Jacobi identity gives $A_{[X,Y]}=[A_X,A_Y]$. Using the cyclic property of the trace,Thus it is an invariant bilinear form on a Lie algebra. If $[T_a,T_b]=f_{ab}{}^c{T}_c$, the adjoint matrix has entries $(A_{T_a}{)}^c{}_b=f_{ab}{}^c$. Its trace product yields the structure constants of a Lie algebra formulaA semisimple Lie algebra has zero solvable radical, equivalently no nonzero solvable ideal. In characteristic zero, the Cartan criterion for semisimplicity characterizes it by nondegeneracy of its Killing form. A real compact Lie algebra is the Lie algebra of a compact Lie group, equivalently one admitting a positive-definite invariant inner product. For a real semisimple algebra, the compactness criterion from the Killing form says compactness is equivalent to negative-definiteness of $\kappa$. An abelian compact-type algebra has zero Killing form, so this last characterization specifically concerns the semisimple case.

Use a real Lie algebra convention $[T_a,T_b]=f_{ab}{}^c{T}_c$. Its Adjoint representation of a Lie algebra acts on $\mathfrak{g}$ itself:Linearity is immediate. The Jacobi identity givesso $[{\mathrm{ad}}_X,{\mathrm{ad}}_Y]={\mathrm{ad}}_{[X,Y]}$, the defining Lie algebra representation condition. In the basis $T_b$, its matrix entries areThus the adjoint generators are the structure constants arranged as matrices. The representation has kernel equal to the center of a Lie algebra; it need not be faithful for an arbitrary algebra.

The Adjoint representation of a Lie group is ${\mathrm{Ad}}_g(Y)=gY{g}^{-1}$. It satisfies ${\mathrm{Ad}}_{gh}={\mathrm{Ad}}_g{\mathrm{Ad}}_h$, preserves the identity, and sends inverses to inverse matrices. Differentiating $e^{tX}Y{e}^{-tX}$ gives $[X,e^{tX}Y{e}^{-tX}]$, soConsequently the positive adjoint exponentials furnish the representation on elements $g=e^X$ and their products, and the intrinsic conjugation action defines it globally.

The inverse-conjugation formula in the PDF needs a minus adjoint exponent with this standard definition. Its first-order term is $Y-[X,Y]$, whereas $e^{+{\mathrm{ad}}_X}Y$ has first-order term $Y+[X,Y]$. For example $X=T_1,Y=T_2$ in a nonabelian algebra with $[T_1,T_2]\ne 0$ already distinguishes the two. The inverse conjugation and adjoint antirepresentations identity explains the group-order issue as well: $F(g)={\mathrm{Ad}}_{g^{-1}}$ satisfies $F(gh)=F(h)F(g)$. Retaining the printed inverse conjugation as a left action without this order reversal would not give an ordinary group representation.

The Killing form is the symmetric bilinear formTo prove degeneracy for a non-semisimple Lie algebra, take its nonzero solvable radical and the last nonzero member $\mathfrak{a}$ of its derived series of a Lie algebra. This is a nonzero abelian ideal of a Lie algebra. For $x\in \mathfrak{a}$, ${\mathrm{ad}}_x$ maps $\mathfrak{g}$ into $\mathfrak{a}$ and kills $\mathfrak{a}$. Every ${\mathrm{ad}}_y$ preserves $\mathfrak{a}$. Hence ${\mathrm{ad}}_x{\mathrm{ad}}_y$ maps the full space into $\mathfrak{a}$ and has zero restriction there, so its trace is zero. Thus $B(x,y)=0$ for every $y$. This is the abelian ideals lie in the radical of the Killing form argument, and establishes a nonzero kernel and vanishing determinant.

For a compact real semisimple Lie algebra, the adjoint action is unitary in an invariant positive inner product. Its infinitesimal generators are skew-Hermitian, givingStrictness follows because the adjoint kernel is the zero center. This explains the compactness criterion from the Killing form: “strictly negative” means negative-definite, not that every entry of its matrix is negative.

In the first three-generator example, take columns to be images of the basis $(X,Y,H)$. Direct use of the brackets givesTaking traces of products yields the Killing form for cyclic three-generator bracketsIt is nondegenerate, hence semisimple by the preceding degeneracy result, but it has mixed signature and is not compact. An explicit realization iswhich span the real traceless two-by-two matrices and satisfy exactly these brackets.

Changing the sign of $[X,H]$ changes the first and third adjoint matrices towhile ${\mathrm{ad}}_Y$ is unchanged. Nowthe negative-definite compact case. The basis $X=-i{\sigma }_1$, $Y=-i{\sigma }_2$, $H=-i{\sigma }_3$ realizes it as the real special unitary Lie algebra $\mathfrak{su}(2)$.

Use the real Lie-algebra convention of the question, with a gauge covariant derivative $D_{\mu }={\partial }_{\mu }+A_{\mu }$. The gauge field strength is its curvature:Write $a_{\mu }={\delta }_X{A}_{\mu }/ϵ=-{\partial }_{\mu }X+[X,A_{\mu }]$. To first order in $ϵ$,Substitute $a_{\mu }$. The mixed second derivatives of $X$ cancel. The terms containing first derivatives of $X$ cancel in pairs. The remaining terms areThe Jacobi identity combines the last two into $[X,[A_{\mu },A_{\nu }]]$. ConsequentlyThe transformation is homogeneous even though the connection transformation contains an inhomogeneous derivative term.

For a finite-dimensional Lie algebra, define its Adjoint representation by ${\mathrm{ad}}_X(Y)=[X,Y]$ and its Killing form byIt is a symmetric bilinear form by cyclicity of the trace. The Jacobi identity gives ${\mathrm{ad}}_{[Z,X]}=[{\mathrm{ad}}_Z,{\mathrm{ad}}_X]$. Set $A={\mathrm{ad}}_Z$, $B={\mathrm{ad}}_X$, $C={\mathrm{ad}}_Y$. ThenThis proves the invariant bilinear form on a Lie algebra property, without assuming simplicity or nondegeneracy.

For definiteness use the Minkowski metric $\eta =\mathrm{diag}(1,-1,-1,-1)$ and take a real compact semisimple Lie algebra as the gauge algebra. Its positive internal metric is $B=-\kappa$. A Killing-form Yang-Mills Lagrangian with the coupling absorbed into the connection isThe spacetime metric is unchanged by internal gauge transformations. HenceThus gauge invariance follows directly from invariance of the Killing form. Other overall conventions are possible, but the energy sign must be checked rather than inferred from a prefactor in isolation.

For physical kinetic terms the internal form must be real, nondegenerate and positive definite after choosing the overall sign. If ${\mathcal{E}}_i=F_{0i}$ and ${\mathcal{B}}_i=\frac{1}{2}{ϵ}_{ijk}{F}_{jk}$, the above convention has Lagrangian $[B({\mathcal{E}}_i,{\mathcal{E}}_i)-B({\mathcal{B}}_i,{\mathcal{B}}_i)]/(2g_{\mathrm{YM}}^2)$ and physical energy densityThe canonical Hamiltonian density also contains the nondynamical multiplier and a spatial divergence. With ${\Pi }_i={\mathcal{E}}_i/g_{\mathrm{YM}}^2$ and $D_i{\Pi }_i={\partial }_i{\Pi }_i+[A_i,{\Pi }_i]$, integration by parts using the invariant bilinear form on a Lie algebra givesThe Gauss law constraint in gauge theory sets $D_i{\Pi }_i=0$. If the boundary flux vanishes, or the appropriate boundary contribution is included, the integrated physical Hamiltonian is the positive energy displayed above.

An indefinite internal form would give gauge-field polarizations with opposite kinetic signs. A degenerate form would fail to supply a kinetic term for some directions. The compactness criterion from the Killing form says that negative-definiteness of the Killing form of a real finite-dimensional algebra is equivalent to compact semisimplicity; thus the pure Killing-form construction selects compact semisimple real forms. One cannot use a complex-bilinear Killing form on arbitrary complex field components as if it were a positive Hermitian metric.

This does not prohibit Abelian gauge theories. A compact Abelian factor has zero Killing form, so it needs a separately chosen positive invariant bilinear form on a Lie algebra, rather than the Killing form. More generally an algebra with a positive invariant metric on a Lie algebra is compact reductive, namely a direct sum of a compact semisimple algebra and an Abelian center. A noncompact group can also share the same compact Lie algebra through global covering choices in an Abelian factor; positivity is a statement about the algebra and internal metric, not by itself a classification of global gauge-group topology. Quantum matter anomalies and global restrictions would require additional input; no matter content is specified here.

For the finite matrix transformation, let $g(x)\in SU(N)$ and regard $g$ as a multiplication operator. The identity ${\partial }_{\mu }{g}^{-1}=-g^{-1}({\partial }_{\mu }g)g^{-1}$ givesTaking commutators of these differential operators cancels the adjacent multiplication operators $g^{-1}g$, yieldingThis argument keeps the derivatives acting on test fields and avoids treating $D_{\mu }$ as just a matrix.

There is a normalization issue in the printed last paragraph. The standard Killing form defined through the adjoint trace on $\mathfrak{su}(N)$ isnot simply $\mathrm{tr}(XY)$. For example, with $N=2$ and $X=Y=-i{\sigma }_3/2$, the defining trace is $-1/2$, whereas the adjoint trace is $-2$. The printed trace formula can be used as a rescaled invariant form, with the constant absorbed into the gauge coupling; it has exactly the invariance needed here. For either normalization,by cyclicity. This proves finite Yang-Mills gauge transformation invariance, with the healthy sign chosen for anti-Hermitian gauge fields. The normalization discrepancy is not a failure of gauge invariance.

Finally let $g(x)=e^{ϵX(x)}=I+ϵX(x)+O({ϵ}^2)$. Since $X\in \mathfrak{su}(N)$ is traceless and skew-Hermitian, this exponential lies in $SU(N)$. Expanding the finite formula givesThus the stated infinitesimal transformation is the derivative of the finite transformation at the identity. It describes transformations in the identity component; arbitrary global or large gauge transformations need not be generated by one globally defined infinitesimal parameter.