Theorem · Topological groups, Lie groups
Baker–Campbell–Hausdorff formula
For numbers, . For matrices, and in Lie groups generally, this rule fails because the order of multiplication matters. The formula says how to repair it: the exponent of the product is plus correction terms built only from commutators and commutators of commutators.
Builds on Lie group, Exponential map of a Lie group, Matrix exponential