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.

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