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A real matrix with at least one simple negative eigenvalue cannot be a matrix exponential of a real matrix: a logarithm would commute with it and preserve each one-dimensional real negative-eigenvalue space, where exponentiation can only produce a positive eigenvalue. In particular $\mathrm{diag}(-2,-1/2)$ belongs to the connected special linear group ${\mathrm{SL}}_2(\mathbb{R})$ but has no real logarithm.

Write a member of the special linear group as $g=\left(\begin{array}{cc}a& b\\ c& d\end{array}\right)$ with $ad-bc=1$. Its Möbius transformation is $z\mapsto (az+b)/(cz+d)$, with the usual values at a pole and at infinity. For nonreal $z$,This follows by multiplying numerator and denominator by $c\bar{z}+d$. Thus the sign of the imaginary part is preserved, while the extended real line is preserved as a set.

Fixing zero requires $b=0$. Therefore its stabilizer subgroup and group orbit areTranslations send zero to each finite real point, and $\left(\begin{array}{cc}0& -1\\ 1& 0\end{array}\right)$ sends it to infinity.

For $gi=i$, comparing real and imaginary parts gives $a=d$ and $b=-c$, with $a^2+c^2=1$. Exactly the same conditions follow from $g(-i)=-i$. HenceFor any $x\in \mathbb{R}$ and $y>0$, the upper triangular matrixsends $i$ to $x+iy$ and $-i$ to $x-iy$. Therefore the two group orbits are the open complex upper half-plane and the open lower half-plane respectively. Along with the extended real line they exhaust the Riemann sphere, so there are exactly three orbits, the real determinant-one Möbius orbits.

Every $h\in H$ has the form $\left(\begin{array}{cc}a& b\\ 0& a^{-1}\end{array}\right)$ and acts by $z\mapsto a^{2}z+ab$. Thus $Hi$ is the entire complex upper half-plane, by the same explicit matrices $h_{x,y}$. Given $g\in G$, choose $h\in H$ such that $hi=gi$. Then $k=h^{-1}g$ fixes $i$, so $k\in SO(2)$ and $g=hk$. This proves the triangular-rotation factorization of real determinant-one matrices.

For uniqueness, if $h_1{k}_1=h_2{k}_2$, then $h_2^{-1}{h}_1=k_2{k}_1^{-1}\in H\cap SO(2)$. An upper triangular rotation matrix must have $\sin \theta =0$, soThere are consequently exactly two matrix factorizations, $(h,k)$ and $(-h,-k)$. Restricting the first diagonal entry of $h$ to be positive makes the factorization unique. For example, if $g=\left(\begin{array}{cc}a& b\\ c& d\end{array}\right)$ and $q=\sqrt{c^2+d^2}$, that unique branch isAngles are understood modulo $2\pi$ when counting matrices; allowing unrestricted real angle representatives gives infinitely many labels for those same two factorizations.

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.

The Möbius group consists of all Möbius transformations of the Riemann sphere ${\mathbb{C}}_{\infty }=\mathbb{C}\cup \{\infty \}$, with operation function composition. A nonzero-determinant matrix $M=\left(\begin{array}{cc}a& b\\ c& d\end{array}\right)$ represents the map $z\mapsto (az+b)/(cz+d)$. If $c\ne 0$, its pole $-d/c$ maps to $\infty$ and $\infty$ maps to $a/c$; if $c=0$, the map is affine and fixes $\infty$. Nonzero scalar multiples of $M$ represent the same transformation.

Define $\varphi (M)$ by this action for $M\in S{L}_2(\mathbb{C})$. Substitution of fractional-linear expressions shows $\varphi (MN)=\varphi (M)\circ \varphi (N)$, so $\varphi$ is a group homomorphism. Any invertible matrix can be rescaled into the special linear group: choose $\lambda \in {\mathbb{C}}^{\times }$ with ${\lambda }^2\det M=1$, which is possible because every nonzero complex number has a square root. This does not change the transformation, proving surjectivity. A transformation represented by $M$ is the identity only if fixing $0$, $\infty$ and $1$ forces $b=c=0$ and $a=d$. The determinant-one condition then gives $a^2=1$. ThusFor the fixed-point claim, a nonidentity Möbius transformation has at least one fixed point of a Möbius transformation: when $c\ne 0$ the finite fixed points solve a quadratic, and when $c=0$ infinity is fixed. A quadratic shows there can be no more than two distinct fixed points unless the transformation is the identity. Suppose there is exactly one. Conjugate it to infinity by a Möbius transformation. The resulting map has form $z\mapsto az+b$, since it fixes infinity. If $a\ne 1$ it also has the finite fixed point $b/(1-a)$, a contradiction. Hence it is $z\mapsto z+b$ with $b\ne 0$. Its $m$th power is $z\mapsto z+mb$, never the identity for $m>0$. Conjugation preserves order, so a nonidentity finite-order Möbius transformation has exactly two fixed points.

Now let $K$ be a finite abelian subgroup of the Möbius group. First suppose it contains an element $g$ of order greater than two. Conjugate the two fixed points of $g$ to $0$ and $\infty$, so $g(z)=\zeta z$, with $\zeta$ a root of unity of order greater than two. Every element $h$ commuting with $g$ permutes its fixed-point set, because $g(h(p))=h(g(p))=h(p)$. A Möbius transformation preserving each of $0,\infty$ is $h(z)=az$; one exchanging them is $h(z)=a/z$. In the second case $hg(z)=a/(\zeta z)$ and $gh(z)=\zeta a/z$, so commuting would force ${\zeta }^2=1$, impossible. Thus all elements of $K$ are scalings. A finite subgroup of a field multiplicative group is cyclic; here one can see this directly by choosing the least common multiple $m$ of all element orders and observing that the scalars lie among the $m$th roots of unity, a cyclic group. Hence $K$ is cyclic.

Otherwise every nonidentity element of $K$ has order two. If $K$ is nontrivial, choose $g$ and conjugate it to $z\mapsto -z$. The action of $K$ on $\{0,\infty \}$ has image of order at most two. Its kernel consists of scalings $z\mapsto az$, and the order-two condition forces $a^2=1$, so the kernel has at most two elements. Hence $|K|\le 4$. Orders one and two give cyclic groups; order four with all nonidentity elements involutions gives $C_2\times C_2$, generated by any two distinct nonidentity elements. Both possibilities occur: scalings by roots of unity give every finite cyclic group, and $\{z,-z,1/z,-1/z\}$ gives the Klein four group. The classification is

The real vector space of symmetric matrices has dimension $n(n+1)/2$. On its invertible part the derivative of the determinant isAt a determinant-one symmetric matrix, this derivative is nonzero: the symmetric direction $C=B$ gives value $n$. The regular level set theorem therefore yieldsThis applies to every signature component, not only positive-definite matrices.

The special linear congruence action on symmetric matrices preserves symmetry because $(AB{A}^T{)}^T=AB{A}^T$, and preserves determinant because $\det (AB{A}^T)=(\det A{)}^2\det B=1$. The identity acts trivially andThese verify a smooth left Lie group action of the special linear group. By Sylvester's law of inertia, it also preserves the numbers of positive and negative eigenvalues.

For $n=2$, parametrize the symmetric matrices byThus $M$ is exactly the two-sheeted hyperboloidThe two sheets consist respectively of positive-definite and negative-definite matrices. Each is preserved by the special linear congruence action on symmetric matrices. They are individually transitive: on the positive sheet $B=A{A}^T$ with $A=B^{1/2}$ and $\det A=1$; on the negative sheet use $B=-A{A}^T$. The stabilizer of either $I$ or $-I$ is $SO(2)$.

Differentiating the left Lie group action along $\exp (sX)$ gives the fundamental vector fieldFor the three matrices in the question, their coordinate components areA sign convention matters here. With the usual Lie bracket of vector fields $[U,V]f=U(Vf)-V(Uf)$, the fundamental fields of this left action obey $[u_X,u_Y]=-u_{[X,Y]}$. Indeed, for linear coordinate fields $u_X(z)=R_{X}z$, the bracket has coefficient $(R_Y{R}_X-R_X{R}_Y)z$. To obtain a Lie algebra representation rather than an anti-representation, use the infinitesimal left-action sign conventionAn explicit answer is thereforeThese are tangent to the two-sheeted hyperboloid: applying each to $Q=t^2-x^2-y^2$ gives zero. For example,They can be written on either sheet using $t=\pm \sqrt{1+x^2+y^2}$:Here the omitted ${\partial }_t$ component is determined by tangency, and derivatives of $t(x,y)$ must be included when computing brackets in these coordinates.

Direct matrix multiplication givesDirect differentiation of the displayed vector fields gives exactlyFor instance, in ambient $(t,x,y)$ coordinates, $[v_1,v_3]=(-2x,-2t,0)=v_2$. These are the defining relations of the sl2 Lie algebra. The three fields are linearly independent over constant real coefficients: if $a{v}_1+b{v}_2+c{v}_3$ vanishes on a sheet, its ${\partial }_x$ coefficient $(-a+c)y-2bt$ forces $b=0,c=a$, and its ${\partial }_y$ coefficient then equals $-2at$, forcing $a=c=0$. Thus the representation is faithful. Their pointwise span need only have dimension two, consistent with the dimension of each sheet.