K. Raghunathan et al., A BAKER-CAMPBELL-HAUSDORFF DISENTANGLEMENT RELATION FOR LIE-GROUPS, Journal of physics. A, mathematical and general, 25(6), 1992, pp. 1527-1534
A BCH formula for groups having faithful matrix representations is der
ived, by a decomposition of the general group element exp(M) into fact
ors, each factor being an exponential involving the infinitesimal gene
rators of the group. This is a generalization of our earlier work for
SU(3).