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A Lie group is a group that is also a finite-dimensional smooth manifold, with multiplication $G\times G\to G$ and inversion $G\to G$ both smooth maps. Its tangent space at the identity element carries a natural Lie algebra structure. Smoothness lets us differentiate the group operation; being a group means that every transformation can be composed and undone. The dimension of a manifold counts independent local parameters, rather than the number of elements of the group. See MIT 18.745, Lecture 2, Definition 2.1 and Example 2.5.

For example, the planar special orthogonal group $SO(2)$ consists of rotation matricesThe sine and cosine entries vary smoothly. Four entries appear, but they are constrained by $R_{\theta }^T{R}_{\theta }=I$ and $\det R_{\theta }=1$: locally, one angle specifies the whole matrix. Multiplication adds angles, with angles differing by $2\pi$ representing the same rotation. Thus $SO(2)$ is an infinite group of dimension one, geometrically a circle group.

The positive-dimensional examples motivate the language of continuous symmetry, but the definition also admits finite groups with the discrete topology as zero-dimensional Lie groups. Conversely, being an infinite group alone says nothing about having a continuous angle parameter. The compatibility between smooth maps and the group operation is what makes differentiation useful.

Lie theory studies continuous symmetries through Lie groups, Lie algebras, and their representations. A rotation can change by an arbitrarily small angle: its parameter varies continuously, yet composing two rotations obeys an exact group operation. The central question is how such finite transformations are controlled by their velocities at the identity element.

An infinite group need not require infinitely many independent parameters. The planar rotation group has infinitely many elements but only one local angle coordinate. More generally, an $n$-dimensional Lie group has an $n$-dimensional tangent space $\mathfrak{g}=T_{e}G$ at its identity element. A basis of this Lie algebra, together with the Lie brackets between its basis vectors, supplies finite data for infinitesimal composition. These brackets record the first correction to adding small transformation parameters. The Exponential map of a Lie group turns a chosen infinitesimal direction into an actual motion.

Finite tangent data consists of a finite basis and a finite table of Lie brackets. For planar rotation, every generator is $aJ$ with $a\in \mathbb{R}$, using the quarter-turn matrix $J$ computed below: one real coefficient specifies any angular velocity. This Lie algebra has infinitely many vectors, but its dimension is one. Linear combinations of the chosen basis vectors supply all the possible infinitesimal motions.

This passage between geometry and algebra is useful because linear maps and matrix commutators are easier to compute than an entire family of transformations. The local information does not determine every global identification: the additive real line and the circle group have isomorphic one-dimensional Lie algebras, but only the latter wraps around. For the local-versus-global viewpoint and the connection with differential equations, see Meinrenken, Lie groups and Lie algebras, introduction and Section 4.

Assume $g>0$ for stability. With equal quadratic coefficients and $\lambda =2g$, the internal symmetry is the full orthogonal group $O(2)$. In two dimensions at positive temperature, with short-range interactions, the Mermin-Wagner theorem forbids spontaneous symmetry breaking of this continuous symmetry. Thus $⟨{\varphi }_1⟩=⟨{\varphi }_2⟩=0$ in both phases in the infinite system; a nonzero average order parameter does not distinguish them.

Instead measure the correlation functionThe low-temperature phase has quasi-long-range order and algebraic correlations; the high-temperature phase has a finite correlation length and exponential correlations. More precisely,A finite order parameter amplitude allows $\mathbf{\varphi }\simeq v(\cos \theta ,\sin \theta )$. Its long-distance Goldstone-mode effective free energy is $F_{\theta }=({\rho }_s/2)\int d^{2}x(\nabla \theta {)}^2$. Restoring the Boltzmann constant and using the renormalized phase stiffness, the thermal phase fluctuations giveThe Berezinskii–Kosterlitz–Thouless transition separates vortex-antivortex binding from unbound vortex defects. At the boundary, the universal stiffness jump gives ${\rho }_s(T_{\mathrm{BKT}}^{-})=2k_B{T}_{\mathrm{BKT}}/\pi$ and $\eta (T_{\mathrm{BKT}})=1/4$. The low-temperature phase stiffness is nonzero; it vanishes at long distances in the disordered phase. The exact transition location is fluctuation dependent and cannot be obtained just by setting the bare ${\mu }^2$ to zero.

When $m_1=m_2={\mu }^2$, the free energy has continuous symmetry $O(2)$. Its ordered minima satisfyContinuous phase fluctuations make the lower critical dimension $d_{\mathrm{l}}=2$, in agreement with the Mermin-Wagner theorem. In two dimensions write the complex order parameter as $\psi ={\rho }_0{e}^{i\theta }$. Neglecting the massive amplitude mode gives the Goldstone-mode effective free energyThe phase-difference variance isand thereforewithThus spin waves replace true long-range order by quasi-long-range order.

A vortex-antivortex pair of separation $R$ has the logarithmic energy $E_{\mathrm{pair}}\simeq 2\pi {\rho }_0^2\log (R/a)$. The number of pair separations below $R$ grows as $R^2$, giving the coarse entropy $S_{\mathrm{pair}}\simeq 2\log (R/a)$. Thusand widely separated pairs become favorable at ${\rho }_0^2\simeq 1/\pi$. Substituting the mean-field stiffness givessuggesting a Berezinskii–Kosterlitz–Thouless transition. The numerical location is only a bare-stiffness estimate: vortex-core fluctuations renormalize the stiffness near the transition.