## Explicit Wei-Norman formulae for matrix Lie groups via Putzer's method

### Claudio Altafini

*Systems and Control Letters*, 54(11):1121-1130, 2005.

The Wei-Norman formula locally relates the Magnus solution of a system of linear
time-varying ODEs with the solution expressed in terms of products of exponenti
als by means of a set of nonlinear differential equations in the parameters of t
he two types of solutions.
A closed form expression of such formula is proposed based on the use of Putzer'
s method.

pdf file