A subgroup of a group is a nonempty subset closed under the inherited multiplication and inverses; equivalently, whenever . A normal subgroup satisfies for every .
A group representation on a vector space is a group homomorphism , so and . An irreducible representation has and no invariant subspaces other than and : there is no proper nonzero with for every . We use finite-dimensional complex representations, with continuity for Lie groups, throughout.
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