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The Poisson brackets of first-class constraints close on the constraints. When the constraints are independent and the coefficients are constant, the Jacobi identity for the Poisson bracket makes the coefficients structure constants of a Lie algebra.

The two Lie groups have the same local infinitesimal structure, but different global topology. This difference determines which Lie algebra representations integrate to representations of each group.

An element of the SU(2) group is a unitary matrix of determinant one. Orthogonality of its columns and its determinant give the unique formThus its group manifold is the unit three-sphere in ${\mathbb{C}}^2\simeq {\mathbb{R}}^4$: this is SU(2) as the three-sphere. In particular it is compact, connected and simply connected. In terms of the Pauli matrices one may also write $U=a_{0}I-i\mathbf{a}\cdot \mathbf{\sigma }$ with real coefficients satisfying $a_0^2+{\mathbf{a}}^2=1$.

Differentiate $U(t{)}^{†}U(t)=I$ and $\det U(t)=1$ at $U(0)=I$. The tangent space consists of traceless skew-Hermitian matrices:The Lie bracket of a Matrix Lie group is the matrix commutator. With $T_a=-i{\sigma }_a/2$, the Pauli matrix multiplication law givesThis derives the SU(2) Lie algebra as a three-dimensional real Lie algebra. The Hermitian physics generators $J_a={\sigma }_a/2$ instead obey $[J_a,J_b]=i{ϵ}_{abc}{J}_c$; they are $i$ times the skew-Hermitian tangent generators, so these are consistent conventions.

The SO(3) group consists of real orthogonal matrices with determinant one. Differentiating $R(t{)}^{T}R(t)=I$ at the identity givesThe determinant condition gives no additional infinitesimal constraint because a skew-symmetric matrix already has trace zero. Define $L_a\mathbf{v}={\mathbf{e}}_a\times \mathbf{v}$. The cross product identity impliesTherefore the SO(3) Lie algebra has the same structure constants and $T_a\mapsto L_a$ is a Lie algebra isomorphism.

The global relation is the Adjoint double cover from SU(2) to SO(3). For $V=\mathbf{v}\cdot \mathbf{\sigma }$, define $R(U)$ byConjugation preserves the real space of traceless Hermitian matrices and its inner product $\frac{1}{2}\mathrm{tr}(VW)=\mathbf{v}\cdot \mathbf{w}$. Hence $R(U)$ is orthogonal. Continuity and connectedness, together with $R(I)=I$, put it in $SO(3)$. Composition of conjugations makes $R$ a group homomorphism. If $R(U)=I$, then $U$ commutes with every Pauli matrix, hence is scalar; unitarity and determinant one leave precisely $U=\pm I$. The differential sends $T_a$ to $L_a$, so it is an isomorphism. More concretely,induces rotation through angle $\theta$ about $\mathbf{n}$, by the Rodrigues rotation formula. Every three-dimensional rotation has such an axis and angle, proving surjectivity. ConsequentlyThe matrices $U$ and $-U$ are antipodal points on the three-sphere, so the SO(3) group manifold is Real projective space ${\mathbb{RP}}^3$. Equivalently, the closed axis-angle ball $\Vert \theta \mathbf{n}\Vert \le \pi$ has opposite boundary points identified. The fundamental group is ${\pi }_1(SO(3))\simeq {\mathbb{Z}}_2$, whereas ${\pi }_1(SU(2))=0$. A $2\pi$ rotation lifts from $I$ to $-I$; a $4\pi$ rotation returns to $I$. Thus the covering is the universal cover and the groups are not globally isomorphic.

For representation theory, specify finite-dimensional complex continuous representations. Compactness permits an invariant Hermitian inner product, obtained by averaging against Haar measure, and therefore complete reducibility. Complexifying either real Lie algebra gives the sl2 Lie algebra. Its finite-dimensional irreducibles are indexed by $n\in {\mathbb{Z}}_{\ge 0}$, have highest weight $n$, and have dimension $n+1$. By integration of a Lie-algebra representation, since $SU(2)$ is simply connected, every such Lie algebra representation integrates uniquely. The resulting homogeneous polynomial representation of SU2 isIn the spin angular momentum notation $j=n/2$, its Hermitian $J_3$ eigenvalues are $j,j-1,\dots ,-j$. The central matrix $-I$ acts on the symmetric power by $(-1{)}^n$, so descent of an SU(2) representation to SO(3) occurs exactly when $n$ is even. HenceFor a reducible representation, every summand must satisfy the descent condition. The spin-one-half doublet is a genuine representation of the covering group but does not define a single-valued representation of $SO(3)$; the spin-one triplet does and is its vector representation. The distinction is topological, rather than a difference in their isomorphic Lie algebras.

For a complex finite-dimensional simple Lie algebra, a Cartan subalgebra $\mathfrak{h}$ is a maximal commuting subalgebra of elements whose adjoint maps are semisimple. Equivalently in this setting it is a nilpotent self-normalizing subalgebra. Its dimension is the rank of a semisimple Lie algebra. Simultaneous diagonalization of its Adjoint representation gives the root-space decompositionA root of a root system is a nonzero linear functional $\alpha$ for which this root space is nonzero. For a complex semisimple algebra each root space is one-dimensional. A Cartan-Weyl basis consists of a basis $H_i$ of $\mathfrak{h}$ and one nonzero root vector $E_{\alpha }$ for every root.

The general Lie brackets have the formFor the opposite-root bracket, use the Killing form to define $h_{\alpha }$ by $\kappa (h_{\alpha },H)=\alpha (H)$. Its invariant bilinear form on a Lie algebra property givesOne may normalize the root vectors so that the pairing is one. If instead one uses a coroot as the opposite-root bracket, the root-vector normalization changes accordingly. In particular, root evaluation coordinates cannot simply be used as coefficients in a nonorthonormal Cartan basis.

For the matrix calculation take $N\ge 2$. The complexification of a Lie algebra of the special unitary group Lie algebra is the special linear Lie algebra ${\mathfrak{sl}}_N(\mathbb{C})$: traceless complex matrices. Its Cartan subalgebra consists of traceless diagonal matrices. Write $E_{jk}={\mathcal{T}}^{(j,k)}$ for the matrix units. The given Cartan basis is $H_i=E_{ii}-E_{i+1,i+1}$, $1\le i<N$, and the other basis elements are $E_{jk}$ with $j\ne k$.

The matrix-unit identity $E_{jk}{E}_{lm}={\delta }_{kl}{E}_{jm}$ givesThus all the roots, expressed as evaluation vectors in this precise Cartan basis, areThey are the functionals $e_j-e_k$ on traceless diagonal matrices; there are $N(N-1)$ of them. The corresponding root vector is $E_{jk}$. Together with $N-1$ Cartan generators, they give $N^2-1$ basis elements. The simple roots can be chosen as ${\alpha }_{i,i+1}$, whose evaluation vectors are the rows of the type-$A_{N-1}$ Cartan matrix, with $2$ on the diagonal and $-1$ on adjacent entries. These vectors are evaluations on $H_i$, not coordinates in an orthonormal realization of the root system.

To express every bracket strictly in the chosen basis, introduce the abbreviationThen all pairs are covered byHere both input root vectors have distinct row and column indices. The first case is the only one producing diagonal matrix units, and the displayed sum of $H_p$ resolves them completely into the chosen Cartan basis. Reversing the order gives the negative bracket. This also shows explicitly that the two nonzero non-Cartan cases have structure constants $+1$ and $-1$, and verifies the required root-addition rule.

The Jacobi identity for the Poisson bracket impliesFor first-class constraints with linearly independent differentials this gives $f_{[ij}{}^l{f}_{k]l}{}^m=0$, the Jacobi identity for the structure constants of the constraint algebra. Independence is an implicit assumption: for constraints obeying identities or vanishing identically, only the contracted identity follows, and arbitrary coefficients multiplying such constraints need not satisfy a Lie algebra identity.

With $G={ϵ}^i{\phi }_i$ and $\delta F=\{F,G\}$, the canonical variables transform asTo fix the sign convention, vary the phase-space action directly:Thus action invariance requires $\delta {\lambda }^i={\dot{ϵ}}^i+{ϵ}^j{\lambda }^k{f}_{jk}{}^i$. For $F^i={\lambda }^i-{\bar{\lambda }}^i$, the Faddeev-Popov determinant is that ofUsing anticommuting Faddeev-Popov ghost fields, the invariant-convention result isThe original PDF has a sign error in the stated multiplier transformation; the TeX transcription has the consistent plus sign. Keeping the PDF's displayed minus sign mechanically would instead give $i\int dt{b}_i({\dot{c}}^i-c^j{\bar{\lambda }}^k{f}_{jk}{}^i)$. That expression exponentiates the determinant of the printed transformation, but that transformation does not preserve the stated action with the canonical convention above. It cannot be used as the invariant result without changing another convention consistently.

As for the particle, constant multiplier moduli and any residual zero mode in field theory must be handled separately; the constant gauge fixing is understood locally on the gauge orbit.

Choose a $K$-basis $e_1,\dots ,e_n$ of $L$ and writethereby identifying $L$ with ${\mathbb{A}}_K^n$. Let $M(x)$ be the $n\times n$ matrix whose $j$th column is the coordinate vector of ${\alpha }^{j-1}$ in this basis, for $1\le j\le n$.

Write the multiplication table aswith fixed structure constants $c_{ij}^l\in K$. Repeated multiplication shows that every entry of $M(x)$ is a polynomial in $x_1,\dots ,x_n$. HenceBy the criterion supplied in the question,Consequentlywhich is a distinguished open set, and therefore a Zariski-open set. This is the determinant construction showing that primitive elements form a principal Zariski-open set. No assertion that $D$ is nonzero is needed.