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A real Lie group is a group $G$ equipped with a finite-dimensional real smooth manifold structure, conventionally Hausdorff and second countable, for which multiplication $G\times G\to G$ and inversion $G\to G$ are smooth.

Its tangent space at the identity $e$ is defined by smooth curves through $e$: two curves represent the same tangent vector when their derivatives in a local chart agree at zero. For $X\in T_{e}G$, left translation $L_g(h)=gh$ determines the left-invariant vector fieldThe commutator of these derivations on smooth functions is another left-invariant vector field, so define the Lie bracketThis construction supplies the Lie algebra structure. In a Matrix Lie group, $X^L(g)=gX$ and differentiating the two fields gives $[X,Y]=XY-YX$.

For the special linear group, differentiate the determinant along a curve $g(t)$ through $I$. Expansion of the determinant, or its differential $D{\det }_A(H)=\det (A)\mathrm{tr}(A^{-1}H)$, givesThe determinant differential is surjective at $I$, so the level set $\det =1$ has tangent space equal to its differential's kernel. Equivalently, every tangent matrix has zero trace, and every zero-trace matrix supplies a curve $e^{tX}$ of determinant $e^{t\mathrm{tr}X}=1$. Hencewith the matrix commutator bracket. The same calculation over $\mathbb{C}$ gives the complex special linear Lie algebra ${\mathfrak{sl}}_n(\mathbb{C})$; as a real group, the complex group has that space viewed as a real Lie algebra.

The matrix exponential is the everywhere-convergent serieswhose inverse matrix is $\exp (-X)$. The matrix logarithm is locally defined near $I$ byThese maps are inverse on suitable neighbourhoods of zero and $I$, giving a logarithmic chart of a matrix Lie group. A logarithm is not a globally single-valued inverse of the exponential.

Every invertible complex matrix nevertheless has at least one matrix logarithm. Put it in Jordan normal form. For a block $J=\lambda I+N$, $\lambda \ne 0$ and $N^s=0$, choose any complex scalar logarithm $\ell$ of $\lambda$ and setThe finite logarithm and exponential identities in the nilpotent variable give $e^L=\lambda (I+N/\lambda )=J$. Combine the blocks and conjugate back. Thus the exponential map is surjective on ${\mathrm{GL}}_n(\mathbb{C})$, by existence of a logarithm for every invertible complex matrix.

A connected counterexample is ${\mathrm{SL}}_2(\mathbb{R})$. It is connected: polar decomposition of an invertible real matrix writes each element as $KP$, with $K\in \mathrm{SO}(2)$ and $P$ positive definite symmetric of determinant one; $\mathrm{SO}(2)$ is connected and $P$ is connected to $I$ through $P^t$.

But $g=\mathrm{diag}(-2,-1/2)$ belongs to this group and is not $e^X$ for any real $X$. Such an $X$ would commute with $e^X=g$. Since $g$ has two distinct real eigenvalues, direct commutation makes $X$ a real diagonal matrix. Its exponential has positive diagonal entries, a contradiction. ThereforeThis is an exponential-surjectivity obstruction from distinct negative eigenvalues; connectedness does not eliminate the obstruction.

Write $J_r(\lambda )$ for a size-$r$ Jordan block. The characteristic polynomial fixes the total dimensions at $2$ and $-7$, while the minimal polynomial fixes the largest Jordan block at each eigenvalue. Consequently, the blocks for $2$ have total size four, largest size two, and at least one size-two block. The blocks for $-7$ both have size one. The complete list, up to similarity, isThese Jordan normal forms are inequivalent because their $2$-eigenspaces have different dimensions, two and three.

A Jordan block $J_m(\lambda )$ has $\lambda$ on its diagonal, ones on its superdiagonal, and zeros elsewhere. A matrix is in Jordan normal form when it is block diagonal with Jordan blocks.

On a block $J_m(\lambda )$, $\ker (\alpha -\lambda I{)}^r$ has dimension $\min (r,m)$. Its increase from $r-1$ to $r$ is one exactly when $m\ge r$. Summing over blocks proves thatcounts the $\lambda$-blocks of size at least $r$.

If $\lambda \ne 0$, the polynomial $z^2$ has nonzero derivative at $\lambda$, soIf $\lambda =0$, squaring the nilpotent shift separates the odd and even basis chains:omitting a zero-size block.

The displayed invertible matrix preserves the subspaces spanned by $(e_1,e_4)$ and $(e_2,e_3)$. Its restrictions have characteristic polynomials $t^2-a_1{a}_4$ and $t^2-a_2{a}_3$. Since invertibility makes both products nonzero, each restriction has two distinct complex eigenvalues. Its Jordan form is thereforefor either choices of the square roots.

Put $q=p^n$. A finitely generated module over $A=k[X]/(X^q)$ is finite-dimensional over $k$, and multiplication by $X$ is a nilpotent linear map $T$ with $T^q=0$. Its Jordan normal form exists over $k$ because its minimal polynomial is a power of $X$. Each Jordan block has size $r\le q$ and is the cyclic module $M_r=k[X]/(X^r)$. HenceA submodule of $M_r$ is an ideal of $k[X]/(X^r)$, and its inverse image is an ideal of the principal ideal domain $k[X]$ containing $(X^r)$. The only possibilities are $(X^j)$ with $0\le j\le r$. Thus all submodules form the chainEvery successive quotient is the one-dimensional simple module on which $X$ acts as zero. This is its unique composition series, so $M_r$ is a uniserial module and is an indecomposable representation: two nonzero direct summands would be incomparable submodules. Only $M_1$ is simple.

For $G=⟨g⟩$ of order $q$, the group algebra satisfiessince $(T-1{)}^q=T^q-1$ in characteristic $p$. Consequently, up to isomorphism, $\boxed{M_1,\dots ,M_{p^n}}$ are precisely the finite-dimensional indecomposable modules, and $\boxed{M_1\text{ is the unique simple module}}$. The finite-dimensional convention follows from the finite-generation hypothesis; “exactly” counts isomorphism classes.

For every nonnegative integer $k$,Consequently, if $m_{AB}(AB)=0$, thenBy the divisibility characterization of the minimal polynomial,Interchanging $A$ and $B$ also gives $m_{AB}(t)\mid t,m_{BA}(t)$. Therefore the Minimal polynomials of AB and BA can differ only in the exponent of the factor $t$, and that exponent differs by at most one.

If $AB$ is diagonalizable, its minimal polynomial has no repeated roots. The preceding divisibility says that every nonzero Jordan block of $BA$ has size one and every zero-eigenvalue block has size at most two. Squaring $BA$ preserves the one-dimensional nonzero blocks and sends every size-at-most-two nilpotent block to zero. Thus the Jordan normal form of $(BA{)}^2$ is diagonal, so

Let $U\le {\mathrm{SL}}_2(p)$ be the Sylow p-subgroup of upper unitriangular matrices. It is cyclic of order $p$, generated byRealize $S^r(V_2)$ as the homogeneous polynomials of degree $r$ in $X,Y$, with $u$ acting by $X\mapsto X$ and $Y\mapsto X+Y$. For $0\le r<p$, the only vectors fixed by $u$ are the multiples of $X^r$: successive comparison of the coefficients of $Y^r,Y^{r-1},\dots$ proves this. Thus the nilpotent operator $u-1$ has one-dimensional kernel. Its Jordan normal form therefore has a single block, soThis also follows from the indecomposable modules of a cyclic p-group in characteristic p.

For $r=p-1$, the restriction has dimension $p$ and is the regular $kU$-module, hence is projective. Since $[G:U]$ is prime to $p$, part (b)(ii) makes $S^{p-1}(V_2)$ a simple projective $kG$-module. It is therefore a defect-zero representation and lifts to an ordinary irreducible representation of the same dimension. Consequently

Two square matrices are similar when $B=P^{-1}AP$ for some invertible matrix $P$. A Jordan normal form is a block-diagonal matrix whose blocks have one eigenvalue on the diagonal, ones on the superdiagonal, and zeros elsewhere; over an algebraically closed field every matrix is similar to such a form, unique up to reordering its Jordan blocks.

Both displayed matrices have characteristic polynomialHowever,so their eigenspace dimensions are respectively two and one. Thus $A$ has Jordan form $J_2(1)\oplus J_1(1)$, whereas $B$ has Jordan form $J_3(1)$. By uniqueness of Jordan normal form,

The Jordan normal form can contain only blocks $J_r(0)$ with eigenvalue zero. Moreover,Thus the possible blocks are precisely the nilpotent Jordan blocks of sizes $1\le r\le n$.

Fordirect multiplication givesWith respect to the ordered standard basis $(E_{11},E_{12},E_{21},E_{22})$, its matrix is therefore

This nilpotent operator satisfies ${\varphi }_A^3=0$, while ${\varphi }_A^2\ne 0$. Moreover,These ranks determine one nilpotent block of size three and one of size one. Hence its Jordan normal form is

True. By Jordan normal form, the characteristic polynomial records the total size of the blocks for each eigenvalue, while the minimal polynomial records the largest block for each eigenvalue. In dimension three this determines every block partition: for algebraic multiplicity three the possibilities $3$, $2+1$, and $1+1+1$ have largest block sizes three, two, and one; multiplicities one and two are equally immediate. Thus the two matrices have the same Jordan form and are conjugate. This is the characteristic and minimal polynomials determine similarity in dimension three phenomenon.

For ordered bases $\mathcal{B}=(v_1,\dots ,v_n)$ of $V$ and $\mathcal{C}=(w_1,\dots ,w_m)$ of $W$, the matrix representation of a linear map $\gamma :V\to W$ is the matrix whose $j$th column consists of the $\mathcal{C}$-coordinates of $\gamma (v_j)$. Thus

The operators $\alpha ,\beta :V\to V$ are conjugate linear operators when there is an isomorphism $s:V\to V$ such thatIn one basis their matrices therefore satisfy $[\beta ]=[s{]}^{-1}[\alpha ][s]$, so they are similar matrices.

For invertible $\beta$, the mapis linear, and its inverse is $A\mapsto \beta A{\beta }^{-1}$; hence it is a linear isomorphism of $\mathrm{End}(V)$. If ${\beta }^{\prime }=s^{-1}\beta s$, define ${\Phi }_s(A)=s^{-1}As$. A direct substitution givesso ${\varphi }_{{\beta }^{\prime }}$ and ${\varphi }_{\beta }$ are conjugate. This is the conjugation operator on an endomorphism space.

It remains to compute the Jordan normal form over $\mathbb{C}$. By the preceding conjugacy, we may put $\beta$ in Jordan form.

Ifthen the matrix units $E_{ij}$ are eigenvectors becauseThusThis includes the scalar case $\lambda =\mu$, when ${\varphi }_{\beta }$ is the identity.

Otherwise $\beta$ has one size-two Jordan block. Multiplying $\beta$ by a nonzero scalar does not change ${\varphi }_{\beta }$, and conjugating within its Jordan class allows us to use $J=I+N$ with $N=E_{12}$. Put $D={\varphi }_J-I$. Direct multiplication givesHence $D^3=0$, $\mathrm{rank}D=2$, and $\mathrm{rank}{D}^2=1$. The nilpotent Jordan blocks of $D$ therefore have sizes three and one. Adding the identity givesThese two cases are the Jordan normal form of conjugation on two-by-two matrices.

The Jordan normal form theorem says that every complex square matrix is similar to a direct sum of Jordan blocks, uniquely up to their order. For an eigenvalue $\lambda$, if its blocks have sizes $n_1,\dots ,n_r$, then its algebraic multiplicity and geometric multiplicity areand its contribution to the minimal polynomial is $(t-\lambda {)}^{{\max }_j{n}_j}$. Thuswhere $s_{\lambda }$ is the largest $\lambda$-block size.

For the given matrix,Moreover,HenceThe eigenvalue $-1$ therefore has one Jordan block of size two, so

A Jordan block is $J_m(\alpha )=\alpha I+N$, where $N$ has ones on the superdiagonal and zeros elsewhere. Since $N^2=0$ for $m=2$, Taylor expansion givesThe Jordan normal form is the block-diagonal matrix, unique up to block order, to which $A$ is similar and whose blocks are Jordan blocks.

A block of size at least two for eigenvalue $\lambda$ contributes a generalized eigenvector in $\ker (A-\lambda I{)}^2\setminus \ker (A-\lambda I)$. Thus the displayed equality for every $\lambda$ is equivalent to every block having size one, which is diagonalizability.

The transpose of each Jordan block is similar to it by reversing its basis. Hence $A^T$ has the same Jordan form as $A$.

Write $A=PJ{P}^{-1}$. Let $R$ be block diagonal with the reversal matrix on each Jordan block. Both $R$ and $RJ$ are symmetric and $R$ is invertible. Thereforewhere $C,D$ are symmetric and $C$ is nonsingular.