The matrix logarithm
To harness the full power of the matrix exponential we need its inverse function, the matrix logarithm function, log. Like the classical log, the matrix log is defined by a power series that converges only in a certain neighborhood of the identity. This makes results involving the logarithm more “local” than those involving the exponential alone, but in this chapter we are interested only in local information.
KeywordsNormal Subgroup Tangent Space Tangent Vector Smooth Path Inverse Property
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