Notes for Math 261A Lie Groups and Lie Algebras March 28, 2007
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Notes for Math 261A Lie groups and Lie algebras March 28, 2007 Contents Contents 1 How these notes came to be 4 Dependence of results and other information 5 Lecture 1 6 Lecture 2 9 Tangent Lie algebras to Lie groups 9 Lecture 3 12 Lecture 4 15 Lecture 5 19 Simply Connected Lie Groups 19 Lecture 6 - Hopf Algebras 24 The universal enveloping algebra 27 Lecture 7 29 Universality of Ug 29 Gradation in Ug 30 Filtered spaces and algebras 31 Lecture 8 - The PBW Theorem and Deformations 34 Deformations of associative algebras 35 Formal deformations of associative algebras 37 Formal deformations of Lie algebras 38 Lecture 9 40 Lie algebra cohomology 41 Lecture 10 45 Lie algebra cohomology 45 H2(g, g) and Deformations of Lie algebras 46 2 Lecture 11 - Engel’s Theorem and Lie’s Theorem 50 The radical 55 Lecture 12 - Cartan Criterion, Whitehead and Weyl Theorems 56 Invariant forms and the Killing form 56 Lecture 13 - The root system of a semisimple Lie algebra 63 Irreducible finite dimensional representations of sl(2) 67 Lecture 14 - More on Root Systems 69 Abstract Root systems 70 The Weyl group 72 Lecture 15 - Dynkin diagrams, Classification of root systems 77 Construction of the Lie algebras An, Bn, Cn, and Dn 82 Isomorphisms of small dimension 83 Lecture 16 - Serre’s Theorem 85 Lecture 17 - Constructions of Exceptional simple Lie Algebras 90 Lecture 18 - Representations of Lie algebras 96 Highest weights 99 Lecture 19 - The Weyl character formula 104 Lecture 20 - Compact Lie groups 114 Lecture 21 - An overview of Lie groups 118 Lie groups in general 118 Lie groups and Lie algebras 120 Lie groups and finite groups 121 Lie groups and Algebraic groups (over R) 122 Important Lie groups 123 Lecture 22 - Clifford algebras 126 Lecture 23 132 Clifford groups, Spin groups, and Pin groups 133 Lecture 24 139 Spin representations of Spin and Pin groups 139 Triality 142 More about Orthogonal groups 143 3 Lecture 25 - E8 145 Lecture 26 150 Construction of E8 152 Lecture 27 156 Construction of the Lie group of E8 159 Real forms 160 Lecture 28 162 Working with simple Lie groups 164 Every possible simple Lie group 166 Lecture 29 168 Lecture 30 - Irreducible unitary representations of SL2(R) 175 Finite dimensional representations 175 The Casimir operator 178 Lecture 31 - Unitary representations of SL2(R) 181 Background about infinite dimensional representations 181 The group SL2(R) 182 Solutions to (some) Exercises 187 References 195 Index 197 How these notes came to be 4 How these notes came to be Among the Berkeley professors, there was once Allen Knutson, who would teach Math 261. But it happened that professor Knutson was on sabbatical at UCLA, and eventually went there for good. During this turbulent time, Maths 261AB were cancelled two years in a row. The last of these four semesters (Spring 2006), some graduate students gath- ered together and asked Nicolai Reshetikhin to teach them Lie theory in a giant reading course. When the dust settled, there were two other pro- fessors willing to help in the instruction of Math 261A, Vera Serganova and Richard Borcherds. Thus Tag Team 261A was born. After a few lectures, professor Reshetikhin suggested that the stu- dents write up the lecture notes for the benefit of future generations. The first four lectures were produced entirely by the “editors”. The re- maining lectures were LATEXed by Anton Geraschenko in class and then edited by the people in the following table. The columns are sorted by lecturer. Nicolai Reshetikhin Vera Serganova Richard Borcherds 1 Anton Geraschenko 11 Sevak Mkrtchyan 21 Hanh Duc Do 2 Anton Geraschenko 12 Jonah Blasiak 22 An Huang 3 Nathan George 13 Hannes Thiel 23 Santiago Canez 4 Hans Christianson 14 Anton Geraschenko 24 Lilit Martirosyan 5 Emily Peters 15 Lilit Martirosyan 25 Emily Peters 6 Sevak Mkrtchyan 16 Santiago Canez 26 Santiago Canez 7 Lilit Martirosyan 17 Katie Liesinger 27 Martin Vito-Cruz 8 David Cimasoni 18 Aaron McMillan 28 Martin Vito-Cruz 9 Emily Peters 19 Anton Geraschenko 29 Anton Geraschenko 10 Qingtau Chen 20 Hanh Duc Do 30 Lilit Martirosyan 31 Sevak Mkrtchyan Richard Borcherds then edited the last third of the notes. The notes were further edited (and often expanded or rearranged) by Crystal Hoyt, Sevak Mkrtchyan, and Anton Geraschenko. Send corrections and comments to [email protected]. Dependence of results and other information 5 Dependence of results and other informa- tion Within a lecture, everything uses the same counter, with the exception of exercises. Thus, item a.b is the b-th item in Lecture a, whether it is a theorem, lemma, example, equation, or anything else that deserves a number and isn’t an exercise. Lecture 1 6 Lecture 1 Definition 1.1. A Lie group is a smooth manifold G with a group structure such that the multiplication µ : G G G and inverse map ι : G G are smooth maps. × → → ◮ Exercise 1.1. If we assume only that µ is smooth, does it follow that ι is smooth? n Example 1.2. The group of invertible endomorphisms of C , GLn(C), is a Lie group. The automorphisms of determinant 1, SLn(C), is also a Lie group. Example 1.3. If B is a bilinear form on Cn, then we can consider the Lie group A GL (C) B(Av, Aw)= B(v,w) for all v,w Cn . { ∈ n | ∈ } If we take B to be the usual dot product, then we get the group On(C). T 0 1m If we let n =2m be even and set B(v,w)= v 1m 0 w, then we get Sp (C). − 2m Example 1.4. SU SL (C)isa real form (look in lectures 27,28, and n ⊆ n 29 for more on real forms). Example 1.5. We’d like to consider infinite matrices, but the multi- plication wouldn’t make sense, so we can think of GLn GLn+1 via A 0 ⊆ A ( 0 1 ), then define GL as GLn. That is, invertible infinite ∞ n matrices7→ which look like the identity almost everywhere. S Lie groups are hard objects to work with because they have global characteristics, but we’d like to know about representations of them. Fortunately, there are things called Lie algebras, which are easier to work with, and representations of Lie algebras tell us about representations of Lie groups. Definition 1.6. A Lie algebra is a vector space V equipped with a Lie bracket [ , ] : V V V , which satisfies × → 1. Skew symmetry: [a, a]=0 for all a V , and ∈ 2. Jacobi identity: [a, [b, c]]+[b, [c, a]]+[c, [a, b]] = 0 for all a, b, c V . ∈ A Lie subalgebra of a Lie algebra V is a subspace W V which is closed ⊆ under the bracket: [W, W ] W . ⊆ Lecture 1 7 Example 1.7. If A is a finite dimensional associative algebra, you can set [a, b] = ab ba. If you start with A = Mn, the algebra of n n matrices, then− you get the Lie algebra gl . If you let A M be× the n ⊆ n algebra of matrices preserving a fixed flag V V V Cn, then 0 ⊂ 1 ⊂ ··· k ⊆ you get parabolicindexparabolic subalgebras Lie sub-algebras of gln. Example 1.8. Consider the set of vector fields on Rn, Vect(Rn)= ℓ = i ∂ { Σe (x) [ℓ1,ℓ2]= ℓ1 ℓ2 ℓ2 ℓ1 . ∂xi | ◦ − ◦ } ◮ Exercise 1.2. Check that [ℓ1,ℓ2] is a first order differential operator. Example 1.9. If A is an associative algebra, we say that ∂ : A A is a derivation if ∂(ab)=(∂a)b + a∂b. Inner derivations are those→ of the form [d, ] for some d A; the others are called outer derivations. We · ∈ denote the set of derivations of A by (A), and you can verify that it is n D n a Lie algebra. Note that Vect(R ) above is just (C∞(R )). D The first Hochschild cohomology, denoted H1(A, A), is the quotient (A)/ inner derivations . D { } Definition 1.10. A Lie algebra homomorphism is a linear map φ : L → L′ that takes the bracket in L to the bracket in L′, i.e. φ([a, b]L) = [φ(a),φ(b)]L′ . A Lie algebra isomorphism is a morphism of Lie algebras that is a linear isomorphism.1 A very interesting question is to classify Lie algebras (up to isomor- phism) of dimension n for a given n. For n = 2, there are only two: the trivial bracket [ , ] = 0, and [e1, e2] = e2. For n = 3, it can be done without too much trouble. Maybe n = 4 has been done, but in general, it is a very hard problem. k k If ei is a basis for V , with [ei, ej] = cijek (the cij are called the structure{ } constants of V ), then the Jacobi identity is some quadratic k relation on the cij, so the variety of Lie algebras is some quadratic surface in C3n. Given a smooth real manifold M n of dimension n, we can construct Vect(M n), the set of smooth vector fields on M n. For X Vect(M n), ∈ we can define the Lie derivative LX by (LX f)(m)= Xm f, so LX acts n · · on C∞(M ) as a derivation. ◮ Exercise 1.3. Verify that [LX , LY ]= LX LY LY LX is of the form n ◦ − ◦ LZ for a unique Z Vect(M ). Then we put a Lie algebra structure on n ∈ n Vect(M )= (C∞(M )) by [X,Y ]= Z. D 1The reader may verify that this implies that the inverse is also a morphism of Lie algebras.