This paper explores the algebraic structure of confluent spherical functions on semisimple Lie groups of real rank one and their connection to the Schwartz algebra of spherical functions, enhancing understanding of harmonic analysis on these groups.
Contribution
It introduces the concept of confluent spherical functions on semisimple Lie groups and examines their algebraic properties and relationship with the Schwartz algebra.
Findings
01
Confluent spherical functions form an algebra related to the Schwartz algebra.
02
The properties of these functions are characterized within the context of semisimple Lie groups.
03
The paper establishes a connection between confluent spherical functions and harmonic analysis on Lie groups.
Abstract
We consider the notion of a confluent spherical function on a connected semisimple Lie group, G, with finite center and of real rank 1, and discuss the properties and relationship of its algebra with the well-known Schwartz algebra of spherical functions on G.
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TopicsAdvanced Algebra and Geometry · Advanced Topics in Algebra · Algebraic and Geometric Analysis
Full text
**Differential equations and the algebra of confluent spherical functions on semisimple Lie groups.
**
Olufemi Opeyemi **OYADARE
**
Abstract
We consider the notion of a confluent spherical function on a connected semisimple Lie group, G, with finite center and of real rank 1, and discuss the properties and relationship of its algebra with the well-known Schwartz algebra of spherical functions on G.
Let G be a connected semisimple Lie group with finite center, a maximal compact subgroup K and a Lie algebra g having a Cartan decomposition,
[TABLE]
If we choose a maximal abelian subspace, a, of p and define A+={exptH:H∈a,t>0} then G has a polar decomposition given as G=K⋅cl(A+)⋅K, where cl(A+) is the closure of A+. A function φ:G↦C is said to be K−biinvariant whenever
[TABLE]
The polar decomposition of G above implies that every K−biinvariant function on G is completely determined by its restriction to A+. A spherical function on G is therefore a K−biinvariant function, φ:G↦C, in which φ(e)=1 and which is an eigenfunction for every left-invariant differential operator on G.
An example of such a function is the Harish-Chandra (zonal) spherical function,φλ,λ∈aC∗, on G. If we denote the restriction of φλ to A+ as φ~λ, then the following system of differential equations hold:
[TABLE]
where q∈Q(gC)(:=U(gC)K = centralizer of K in U(gC)), γ:=γg/a is the Harish-Chandra homomorphism of Q(gC) onto U(gC)w, the w− invariant subspace of U(gC), with w denoting the Weyl group of the pair (g,a),tU(gC)⋂Q(gC) is the kernel of γ and q~ is the restriction of q to A+. Since
[TABLE]
for every f∈C∞(G//K) we conclude that q~ is the radial component of q. We define q∈Q(gC) to be spherical whenever q=q~.
The above system of differential equations have been extensively used by Harish-Chandra in the investigation of the nature of the spherical functions, φλ, their asymptotic expansions and their contributions to the Schwartz algebras on G. The history of this investigation dated back to the 1950′s with the two-volume work of Harish-Chandra, [3(a.)] and [3(b.)], which still attracts the strength of twenty-first century mathematicians (see [10.] and [1.]). Other functions on G satisfying different interesting transformations under members of Q(gC) have also been studied in the light of the approach taken by Harish-Chandra. We refer to [5.] and the references cited in it for further discussion.
Now if G is a semisimple Lie group with real rank 1 then it is known (see [3a.]) that the above system of differential equations can be replaced with
[TABLE]
where ω is the Casimir operator of G and δ′(ω) denotes the radial component of the differential operator, δ′(ω), associated with ω. If we load the structure of G, as a real rank 1 semisimple Lie group, into the last equation it becomes
[TABLE]
where p=n(α),q=n(2α),fλ(t):=φλ(exptH0) and H0 is chosen in a such that α(H0)=1 (see [13.], p. 190 for the case of G=SL(2,R)). Setting z=−(sinht)2 transforms the above ordinary differential equation to the hypergeometric equation
[TABLE]
where gλ(z)=fλ(t),z<0,a=4p+2q+2λ,b=4p+2q2λ and c=2p+q+1, whose solution is from here given by the Gauss hypergeometric function,F(a,b,c:z), defined as
[TABLE]
∣z∣<1 ([16.], p. 283). It then follows that
[TABLE]
with z=−(sinht)2 and we conclude that the spherical functions on real rank 1 semisimple Lie groups are essentially the hypergeometric function. In other words, the hypergeometric functions form the spherical functions on any real rank 1 semisimple Lie group.
The confluent hypergeometric function is defined as
[TABLE]
Thus replacing z with z/b in the hypergeometric function, F(a,b,c:z), and computing the limit as b→∞ leads to its confluent, 1F(a,c:z). Taking the same steps for the above hypergeometric equation shows that 1F(a,c:z) satisfies the confluent differential equation
[TABLE]
Now since on any real rank 1 semisimple Lie group G, every spherical function is expressible, as seen above, in terms of a hypergeometric function, we refer to 1F(a,c:z) as a confluent spherical function on G and we denote it by φλσ(exptH0). i.e.,
[TABLE]
with z=−(sinht)2. It is however noted that if we replace z with z/b in z=−(sinht)2, as in the derivation of the confluent hypergeometric equation, then we have
[TABLE]
So that as b→∞ it implies that values of t becomes very small. It then means that the relationship
[TABLE]
is valid only for sufficiently small values of t. We conclude therefore that the spherical function, φλ(exptH0), becomes a confluent spherical function on G for small values of t.
Our aim in this paper is, therefore, to study the function φλ(exptH0) for small values of t since this corresponds with the study of the confluent spherical function, φλσ(exptH0) as explained above. In this respect we find the Stanton-Tomas expansion of φλ(exptH0) very appropriate to define the general notion of a confluent spherical function.
The paper is arranged as follows: §2. contains a discussion of the radial component of spherical differential operators on any G of arbitrary rank, as discovered by Harish-Chandra ([3a.] and [3b.]), while the motivation for the notion of a confluent spherical function on a real rank 1 semisimple Lie group is developed in §3. This motivation informs our choice of the Stanton-Tomas expansion in the definition of a confluent spherical function. The algebra of these functions are then studied and related with the Schwartz algebra of spherical functions.
An insight into the study of specific confluent spherical functions on the real rank 2 case of Sp(2,R), leading to the consideration of different kinds of Whittaker functions, is contained in Hirano, et al[5.]. However the approach taken in this paper is more general than theirs and holds for any real rank 1 semisimple Lie groups, and may be extended to higher ranks.
§2. Radial Components of Spherical Differential Operators
Consider a connected real semisimple Lie group G with finite center and with the Lie algebra g, whose complexification is denoted as gC. We can identify the members of g with left-invariant vector fields of G in the following manner. For every X∈g, we define a map
[TABLE]
where ∂(X) is to act on members of C∞(G) by the requirement
[TABLE]
This depicts ∂(X) as a first order left-invariant differential operator on G associated to every X∈g and which satisfies the relation
[TABLE]
for X,Y∈g. This outlook may be used to introduce left-invariant differential operators of any order on G, by choosing more than one member of g at a time. Indeed, if X1,...,Xr∈g and we define the map
[TABLE]
as
[TABLE]
then
[TABLE]
which is a left-invariant differential operator on G of order ≤r. These operators are analytic and are precisely the endomorphisms of C∞(G) generated by ∂(X),X∈g ([13], p. 101). Thus if we define D(G)=spanC{∂(X):X∈g}, then D(G) is a subalgebra of the algebra EndC(C∞(G)), of all endomorphisms on C∞(G), with the identity operator as its identity element.
However, it is known that if X1,⋯,Xr∈g, the product X1⋯Xr may not generally be a member of g, as may easily be verified with low-dimensional Lie algebras. Thus we should seek a gadget in which every product, X1⋯Xr, of members of g is always found, and then study the structure of the map
[TABLE]
with this gadget on the foreground. With this aim in mind we consider the tensor algebra,T(gC), of the complexification, gC, of g, given as
[TABLE]
where T0(gC):=C, and Tk(gC):=gC⊗⋯⊗gC.T(gC) is an associative algebra over C with identity, and there is a natural map , ι, of gC into T(gC) given by identifying gC with the first-order terms ([1.]). T(gC) has the following universal property.
2.1** Theorem**([6.], p. 644). If A is any other associative algebra over C with identity and τ is a linear map of g into A, then there exists a unique associative algebra homomorphism τˉ, with τˉ(1)=1 such that τˉ∘ι=τ.□
We conclude, from the definitions of ∂ and T(gC) above, that
[TABLE]
However, as [X,Y],XY,YX∈T(gC), for every X,Y∈gC and
[TABLE]
for every X,Y∈gC, it would be necessary to factor, out of T(gC), the set generated by all elements of the form X⊗Y−Y⊗X−[X,Y], for X,Y∈gC. Indeed
[TABLE]
is a two-sided ideal of T(gC), and we define
[TABLE]
U(gC) is also an associative algebra with identity, it contains gC and has the following universal property inherited from T(gC).
2.2** Theorem**([6.], p. 215). Let ι be the canonical map of gC into U(gC), let A be any complex associative algebra with identity, and let φ be a linear mapping of gC into A such that
[TABLE]
Then there exists a unique algebra homomorphism φ0:U(gC)⟶A with φ0(1)=1 such that φ0∘ι=φ.□
The canonical map ι, in the above theorem is one-to-one ([6.], p. 217) and the object U(gC) is called the universal enveloping algebra of gC. One of the most fundamental results in the theory of
U(gC) is the following, which gives a concrete way of constructing it.
2.3** Theorem**(Poincaré-Birkhoff-Witt Theorem)([1.], p. 32). If X1,⋯,Xn is a basis of gC over C, then the monomials ι(X1)j1⋯ι(Xn)jn,jk≥0,k=1,⋯,n, form a basis of U(gC) over C.□
The inclusion of ι in the above is not necessary since it is a one-to-one map. However, the members of U(gC) may seem to be difficult to handle if we only the definition U(gC):=T(gC)/I in mind. However recalling, from Theorem 2.2, that, with A=D(G),∂:gC⟶D(G) is a (natural) homomorphism such that ∂([X,Y])=∂(X)∂(Y)−∂(Y)∂(X),X,Y∈gC, and which also extends to all of U(gC), this implies that the members of U(gC) are more concrete than predicted by the Poincaré-Birkhoff-Witt Theorem. Indeed we have the following major result that gives a different outlook on U(gC).
2.4** Theorem**([1.], p. 32). The algebra homomorphism ∂:U(gC)⟶D(G) is an algebra isomorphism onto. □
The message of these theorems is that the members of U(gC) are mixed derivatives, so that U(gC) is the algebra of all left-invariant differential operators on G. This allows us to view U(gC) as the house of all left-invariant differential operators on C∞(G). Furthermore U(gC) may also be realized as the algebra of right-invariant differential operators on G via the anti-isomorphism ∂r given as
[TABLE]
This second realization of U(gC) suggests that there are some of its members which are both left- and right-invariant. i.e., members q∈U(gC) in which qX=Xq, for all X∈gC. This set of members that are both left- and right-invariant is the center of U(gC) and is denoted by Z(gC). Though the algebra Z(gC) is abelian and sufficient in the harmonic analysis on G, we shall however consider the larger subalgebra Q of U(gC) defined as the centralizer of K in U(gC). i.e.,
[TABLE]
This is due to the fact that we are ultimately interested in the study of K− biinvariant functions on G. It is the radial component of members of Q, viewed as a subalgebra of the algebra, D(G), of left-invariant differential operators on G, that we set out to compute in this section. This is reminiscence of the classical method of finding the normal form of an ordinary differential operator. However we need to have a generalization of the polar decomposition of matrices to members of G in order to start. We take a cue from the example of the case G=SL(2,R), where the generalization of polar coordinates and normal form are easily seen.
Let G=SL(2,\mathbb{R})=\{x=\left(\begin{array}[]{cc}a&b\\
c&d\end{array}\right)\in GL(2,\mathbb{R}):ad-bc=1\} with Lie algebra g=sl(2,R)={X∈GL(2,R):tr(X)=0} and complexification gC=sl(2,C)={X∈GL(2,C):tr(X)=0}. The matrices H=\left(\begin{array}[]{cc}1&0\\
0&-1\end{array}\right),X=\left(\begin{array}[]{cc}0&1\\
0&0\end{array}\right), and Y=\left(\begin{array}[]{cc}0&0\\
1&0\end{array}\right) are members of g and are such that the set {X−Y,H,X+Y} form a basis for g. Now since, for t∈R,\exp tH=\left(\begin{array}[]{cc}e^{t}&0\\
0&e^{-t}\end{array}\right)=:a_{t} and, for θ∈[0,2π],\exp\theta(X-Y)=\left(\begin{array}[]{cc}\cos\theta&\sin\theta\\
-\sin\theta&\cos\theta\end{array}\right)=:u_{\theta}, form the closed subgroups A and K of G, the basis of g above implies that G=K⋅A⋅K. More precisely we have G=K⋅cl(A+)⋅K, where cl(A+) stands for the closure of {at:t>0}. This is the polar decomposition which is known to generalize to any connected semisimple Lie group, with finite center. Another way to establish the polar decomposition, which easily extends to more general semisimple Lie groups, is by considering the map
[TABLE]
This map is a diffeomorphism onto, and we can seek its differentials on the basis elements X−Y,H,X+Y of g. Indeed, since the tangent spaces to K and A at 1 are t={θ(X−Y):θ∈R}=:R(X−Y) and a={tH:t∈R}=:RH, then we have that
[TABLE]
in the formula
[TABLE]
where (x1,x2,x3) and (y1,y2,y3) are coordinate systems about m and φ(m), respectively (cf. [14.], p. 17). Since, in this case, m=1, we have φ(m)=1. Thus, as the tangent space to G at φ(1)=1 is g, with an orthonormal basis {X−Y,H,X+Y}, we also have that
[TABLE]
Hence
[TABLE]
In the same manner
[TABLE]
We then have the specifications of the differential, dφ, of φ on the basis elements, ∂θ1∂,∂t∂ and ∂θ2∂, as
[TABLE]
The Jacobian of this transformation is then sinh2t, so that the corresponding Haar measure ,dG, of G is also dG=21sinh2tdθ1dtdθ2. Its inverse, (dφ)−1, is then given as
[TABLE]
by simple substitution of the terms for ∂θ2∂,∂t∂ and ∂θ1∂, respectively.
Now, since the above expression for (dφ)−1 imply that dφ is bijective everywhere on K×A+×K it follows that ([13.], p. 190) that any analytic differential operator D on G+:=KA+K gives rise to a unique differential operator Dφ on K×A+×K, called the polar form of D, such that, for any f∈C∞(G+), we have
[TABLE]
The composition with φ in this equation means restriction to G+. If we now denote the restriction of f to A+ by f~, then the last equation above becomes
[TABLE]
This means that D~ is the radial component of the differential operator D on G+, whose existence is proved in [3a.], p. 265, and is called spherical whenever D=D~. Now since D(G)≅U(gC) it is sufficient to consider Dφ for D=Z∈gC=sl(2,C). Indeed, for every D=Z∈gC, we have that, Dφ=(dφ)−1(Z) and since a standard basis {H′,X′,Y′} of gC is given as
[TABLE]
we have that
[TABLE]
[TABLE]
and
[TABLE]
The Poincaré-Birkhoff-Witt Theorem above then implies that we consider the radial components of the monomials given as
[TABLE]
in order to exhaust the members of U(gC). It is sufficient, for a start, however to consider the center Z(gC) or the centralizer,Q(gC), of K in U(gC), both of which are commutative subalgebras. Indeed, Z(gC) is the commutative polynomial algebra in the single variable
[TABLE]
the Casimir operator of G. i.e., Z(gC)=C[ω] ([8.], p.195), while Q(gC) is the commutative polynomial algebra in the two variables ω and X−Y. i.e., Q(gC)=C[ω,X−Y] ([8.], p.196). Clearly Z(gC)⊂Q(gC). We however use the normalized casimir operator, ω′, given as
[TABLE]
so that
[TABLE]
is the restriction of ω′ to G+, and may be referred to as the polar form of ω′. This shows that members of Z(gC) , indeed of U(gC), are essentially partial differential operators on G+. Hence the radial component, δ′(ω′), of the normalized Casimir operator, ω′, which is the restriction of the above ω′ to A+, is simply
[TABLE]
(see also [7.], p. 73) reducing the mixed derivatives from Z(gC) to the ordinary derivatives dtrdr,0≤r≤2, on spherical functions on G.
The following well-known result of [8.], p. 199, explains that the eigenfunctions of Z(gC), or of ω′, are exactly the spherical functions on G.
2.5** Theorem.** A K− biinvariant C∞ function f on G, with f(1)=1, is a spherical function iff ω′=λ2f for some λ∈C.□
A detailed proof of Theorem 2.5 is contained in [9.], p. 88. Now as every element q∈U(sl(2,C)), of degree ≤r, may be written as
[TABLE]
with where γ and βl,m,n are constants, we may generalize the above expression for δ′(ω′) to all members of U(sl(2,C)) in the following manner. Let R be the complex algebra of functions on (0,∞) that are generated by (sinh2t)−1 and cosh2t⋅(sinh2t)−1. We know that (dtd)R⊂R, since the derivatives of the generators are all in R. The reduction of every q∈U(sl(2,C)), and not just of Z(sl(2,C), to ordinary derivatives is established using the above expression for q and the method of using (dφ)−1 in the calculation of Dφ, for every D=Z∈sl(2,C), as enumerated for ω′ above.
2.6** Proposition**([13.], p. 238). If q∈U(sl(2,C)) is of degree ≤r, then there exist f0,⋯,fr−1∈C⋅1⊗R such that, for any φ∈C∞(G//K), we have
[TABLE]
on A+, where the operator δ′(q) is given as
[TABLE]
for some constant γ.□
If r=2 and q=ω′∈Z(sl(2,C)), the conclusion of Proposition 2.6 implies that
[TABLE]
which is in conformity with the direct computations above, where we see that γ is 1,f1(t) is 2sinh2tcosh2t and f0(t) is 1. The operator δ′(q) in Propositon 2.6 above may then be called the radial component of every q∈U(sl(2,C)). It would be a huge step to generalize this Proposition to every q in the universal enveloping algebra, U(gC), of the complexification, gC, of a real connected semisimple Lie algebra, g, of G. To this end we extract the basic features in the above case of G=SL(2,R) as follows:
(i.) Computation of the differential(s) of the Cartan decomposition map,K×A+×K⟶G+.
(ii.) Use this differential, in (i.), to find the radial component for every member of Z(gC) or of Q(gC).
Though the programme to solve items (i.) and (ii.) above may not be as straightforward as we have seen for gC=sl(2,C), the following result sets in motion the process of dealing with (i.). To this end, let φ:K×A×K⟶G and G+=KA+K.
2.7** Proposition**([2.], p. 125). The map φ:K×A×K⟶G, given as φ(k1,h,k2):=k1hk2, is submersive on K×A+×K. In particular, G+ is open in G and φ is an open map of K×A+×K onto G+.
Proof. We prove that the differential (dφ)(k1,h,k2)=:D maps t×a×t onto g. To this end, let Z1,Z2∈t,R∈a, then
[TABLE]
Hence (Ad(k2)∘D)(Z1,R,Z2)=Z1h−1+R+Z2k2, showing that D is one-to-one. The surjectivity of D would
hold if we show that g=th−1+a+t for every h∈A+. Indeed, it is sufficient to verify that θn is contained in th−1+a+t, where θ is a Cartan involution on g,n=∑α∈Δ+gα, and Δ+ is a set of positive restricted roots of (g,a). To this end, let X∈gα,α∈Δ+, then
[TABLE]
so that
[TABLE]
[TABLE]
i.e.,
[TABLE]
This ends the proof as expected.□
We see that (dφ)(1,h,1)=Z1h−1+R+Z2, in anticipation of its use on the K− biinvariant functions on G. The proof of Proposition 2.7 above gives a formula for the first differential, (dφ)(k1,h,k2), of φ. However since we are ultimately interested in the radial component of an arbitrary C∞spherical differential operator on G, which may have second, third, and higher derivatives, we compute higher order derivatives of φ to give the full differential, which we shall denote by (dφ)(k1,h,k2)∞. This is mainly because the property of Z(sl(2,C)), as a polynomial algebra in the variable ω′, has not be found generalizeable to arbitrary semisimple G and g. Indeed we have the following.
2.8** Proposition**([2.], p. 127). The full differential, (dφ)(k1,h,k2)∞, of the map φ in Proposition 2.7 is given on U(tC)⊕U(aC)⊕U(tC) as
[TABLE]
where ξ1,ξ2∈U(tC) and u∈U(aC). In particular
[TABLE]
Just as in Proposition 2.7, the map
[TABLE]
defined as Dh=(dφ)(1,h,1)∞ is surjective. Thus for every q∈U(gC) there exists τh∈U(tC)⊕U(aC)⊕U(tC) such that Dh(τh)=q. If we assume that τh depends smoothly on h, then the map h⟼τh leads to a differential operator on K×A+×K which, at the points of (1)×A+×(1), is simply qexpressed in polar coordinates. To the find the formula for τh we proceed as follows.
Let q⟼t(q) be the projection of U(gC) onto U(aC)U(tC), which corresponds to the direct sum U(gC)=U(aC)U(tC)⊕θ(n)U(gC), then deg(t(q))≤deg(q). In view of the fj′s in Proposition 2.6, we define fα and gα,α∈Δ+, on A+ by fα=(ξα−ξ−α)−1 and gα=ξ−α(ξα−ξ−α)−1, respectively, where ξλ=eλ∘log,λ∈aC. Also, let R0 be the algebra with unit generated over, C, by the fα and gα, and, for any integer d≥1, let R0,d be the linear span of the monomials in these generators of degree d. Now if we put
[TABLE]
then for every q∈U(gC) of degree m, there exist ξi,ξi′∈U(tC),ui∈U(aC) and φi∈R0+,1≤i≤n such that
[TABLE]
and we may take
[TABLE]
This is the appropriate generalization of the expression for q in U(sl(2,C)) of degree ≤r as given after Theorem 2.5 above. This direct comparison with the case of sl(2,C) implies that we need to use the general expression for q above to seek the generalization of Proposition 2.6 to all members of U(gC) for any semisimple Lie algebra g. It is sufficient, in our present case, to seek this generalization to all members of Q(gC) as we now do next. First a little preparation.
Take βn:U(gC)⟶U(aC) be the projection corresponding to the direct sum U(gC)=U(aC)⊕(tU(gC)+U(gC)n), having Q∩(tU(gC) as its kernel ([3(a.)], p. 260) and define a map γn:Q(gC)⟶U(aC) by the specification
[TABLE]
γn is a homomorphism ([3(a.)], p. 260), is independent of the choice of n and is called the Harish-Chandra homomorphism. We denote it simply as γ which, for g=sl(2,R), is given on ω′=(H′)2+2H′+4Y′X′ as γ(ω′)=H2⟼dt2d2. (see [7.], p. 51 and use the isomorphism in Theorem 2.4) We state the major result of this section.
2.9** Theorem**([2.], p. 129 and [3(a.)], p. 267). Given any analytic spherical differential operator E on G+ there is a unique analytic differential operator E~ on A+, the radial component of E, such that Ef=E~f~,f∈C∞(G//K). The map E⟼E~ is a homomorphism that does not increase degree. If E=q∈Q(gC), then the radial component, written as δ′(q), is given as
[TABLE]
where ui∈U(gC),φi∈R0+ and deg(ui)<deg(q).□
It is clear that Theorem 2.9 generalizes the assertions of Proposition 2.6, at least to all members of Q(gC), and it sets the stage for analysis of the differential equations satisfied by spherical functions on G. Indeed, by Theorem 2.5 we have that ω′φ=λ2φ which, when combined with Proposition 2.9, (see also Lemma 23 of [3(a.)]) implies that δ′(ω′)φ=λ2φ where, according to Theorem 2.9,
[TABLE]
and ω′ is the normalized Casimir operator of U(gC). Even though the relation Z(sl(2,C))=C[ω′] does not generalize to arbitrary gC the sufficiency of considering the differential equations
[TABLE]
in our study of spherical functions on G may be justified as follows.
2.10** Theorem**([2.], p. 145). If φλ,λ∈aC∗ is an eigenfunction of δ′(ω′), then it is also an eigenfunction of δ′(q),q∈Q(gC), with the same eigenvalue.
Proof. We first show that the differential operators, δ′(q),q∈Q(gC), commute with each other. Indeed, for any q1,q2∈Q(gC), and any f∈C∞(G+//K), the commutativity of Q(gC) implies that q1q2f=q2q1f. Hence
[TABLE]
wheref~=f∣A+. Therefore
[TABLE]
Now let φλ,λ∈aC∗, be an eigenfunction of δ′(ω′). i.e., for some λ∈C, we have δ′(ω′)φλ=γ(ω′)(λ)⋅φλ. Thus
[TABLE]
meaning that δ′(q)φλ is an eigenfunction of δ′(ω′). However, by the uniqueness of Theorem 2.9, we must have that δ′(q)φλ is a constant multiple of φλ, as required. □
The above result explains that it is sufficient to consider the operator
[TABLE]
in the study of spherical functions, φλ, on SL(2,R). In this case we have γ(ω′)(λ)=λ2 so that the equation
[TABLE]
becomes
[TABLE]
i.e.,
[TABLE]
Now setting z=cosh2t, and defining φλ(t) as Φλ(z), we would have dtdφλ=(2sinh2t)dzdΦλ and dt2d2φλ=4sinh2(2t)dz2d2Φλ+4cosh2tdzdΦλ so that the last differential equation above transforms to
[TABLE]
We finally have, with sinh2(2t)=−(1−z2),
[TABLE]
This is the well-known Legendre equation.
This comfirms that the spherical functions on G=SL(2,R) are essentially the Legendre functions as enunciated in [4.], pp. 405−407.
It is a well-known fact in the general theory of ordinary differential equations that we can now consider the associated confluent Legendre functions on G=SL(2,R) in this context, and since every spherical function on G=SL(2,R) is a Legendre function, we may refer to the confluent Legendre functions on G=SL(2,R) as confluent spherical functions. This is the motivation for the next section where this outlook is generated to all semisimple Lie groups with real rank 1.
§3. Reduction to the real rank 1 case.
It is appropriate, from Theorem 2.10, to find the general Casimir operator for the semisimple Lie group G in order to get the generalization
of the Legendre equation of the group G=SL(2,R) as already seen above. To this end let J be the two-sided proper ideal of U(gC), generated over C by elements of the form X⊗Y−Y⊗X, where X,Y∈gC. The quotient T(gC)/J is the symmetric algebra of gC, denoted as S(gC). Clearly if gC is abelian, then U(gC)=S(gC) Even if gC is non abelian, so that we only have U(gC)⊃S(gC) in general, there is a map, λ:S(gC)⟶U(gC), called the Harish-Chandra symmetrization map given as
[TABLE]
where X1,⋯Xr∈gC and σ runs over the set of all permutations of the set {1,⋯,r}. This is a linear isomorphism and it may be shown that, for every x∈G, we have λ∘Ad(x)=Ad(x)∘λ, where Ad(x) is viewed as a map from S(gC) into U(gC) (By an adaptation of Theorem 2.2 to S(gC))([4.], p. 393). We the have the following.
3.1** Theorem**([13.], p. 103). If I(gC) is the subset of members of S(gC) which are Ad(G)− invariant, then λ:I(gC)⟶Z(gC) is a linear isomorphism.
Proof. This is a direct consequence of the relation λ∘Ad(x)=Ad(x)∘λ, for x∈G.□
The above result allows us to use a basis of I(gC) in the construction of a basis of Z(gC). Since it is known that S(gC) is essentially the polynomial algebra on gC, we may introduce the Casimir polynomial,ξ, on gC given as ξ(Z)=tr(adZ)2. It follows that ξ∈S(gC) and hence we have λ(ξ)∈Z(gC). If we define ξ~ on gC by the requirement
[TABLE]
then we shall refer λ(ξ~) as the Casimir operator and denote it by ω. The situation for g=sl(2,R) may be used to justify these terms. Indeed, the Casimir polynomial in this example is H2+4YX and, hence, λ(H2+4YX)=λ(HH)+4λ(YX)=2!1(HH+HH)+4[2!1(YX+XY)]=H2+2YX+2XY=H2+2YX+(2H+2YX)=H2+2H+4YX, which when normalized gives exactly ω′. In the general case we have the following, where we denote B as the Cartan-Killing form on gC×gC.
3.2** Theorem**([12.], p. 217). The Casimir operator ω belongs to the center, Z(gC) of Y(gC). If {X1,⋯,Xm} is a basis for gC and {X1,⋯,Xm} is the dual basis defined by B(Xi,Xj)=δij, then
[TABLE]
Proof. The first statement holds from the linear isomorphism in Theorem 3.1. The dual basis, {X1,⋯,Xm}, exists since B is a non-singular symmetric bilinear form. Now for every X∈gC we have that X=∑1≤j≤mB(X,Xj)Xj so that
[TABLE]
Therefore
[TABLE]
Hence ξ~=∑1≤r,s≤mB(Xr,Xs)XrXs. We then have that ω=λ(ξ~)=∑1≤r,s≤mB(XrXs)XrXs=∑1≤s≤m(∑1≤r≤mB(Xr,Xs)Xr)Xs=∑1≤s≤mXsXs, as expected. □
We need to now compute the expression for the constant coefficient differential operator, γ(ω), for ω as in Theorem 3.2 above, in anticipation of its use in the formula for δ′(ω) contained in Theorem 2.9. This would require using a specific basis of g according to the decomposition g=m⊕a⊕∑λ∈Δgλ, as we now proceed next.
Let {Zi}1≤i≤m be a basis of m such that B(Zi,Zj)=−δij, and let {Hi}1≤i≤a be a basis of a such that B(Hi,Hj)=δij. This is possible since B is negative-definite on t (hence on m) and positive-definite on p (hence on a). Also since, for any two roots α,β of (g,a), the root-space gα is orthogonal to gβ whenever α=β, and since B is non-degenerate when restricted to gα×g−α (see [4.], p. 141) we may select a basis {Xα,i}1≤i≤dim(gα), of gα, such that B(Xα,i,X−α,i)=δij, where θXα,i=X−α,i for a Cartan involution, θ, on g, for every root α. It is clear, from the assertion of Theorem 3.2, that ω∣m=∑1≤i,j≤mZiZj=−(Z12+⋯+Zm2),ω∣a=∑1≤i,j≤aHiHj=H12+⋯+Ha2 and ω∣gα=∑1≤i,j≤dim(gα)Xα,iXα,j=∑1≤i,j≤dim(gα)(Xα,iX−α,i+X−α,iXα,i). Hence the direct sum g=m⊕a⊕∑λ∈Δgλ now implies that
[TABLE]
The present form of the Casimir operator in theses bases may now be used to compute the constant coefficient differential operator, γ(ω).
3.3** Lemma**([2.], p. 94). In the above form of ω, we have that
[TABLE]
where Hρ=21∑α>0n(α)Hα and Hα is uniquely defined by the requirement, α(H)=B(Hα,H) for all H∈a.
Proof. We know that Xα,iX−α,i=X−α,iXα,i+[Xα,i,X−α,i]. Now if X∈gα and X′∈g−α, then [X,X′]∈gα=0⊂m⊕a, and, for every H∈a, we always have B(H,[X,X′])=α(H)B(X,X′). These sum up to give [X,X′]≡B(X,X′)Hα(modm), for every X∈gα,X′∈g−α. In particular
[TABLE]
It then follows that
[TABLE]
Now using the fact that Q(gC)∩(tU(gC)), which contains m, is the kernel of βn, we have
[TABLE]
Hence
[TABLE]
i.e.,
[TABLE]
If we now observe, due to the orthonormality of the basis {Hi} of a relative to B, that ∑1≤i≤aρ(Hi)Hi=Hρ=21∑α>0n(α)Hα and ∑1≤i≤aρ(Hi)2=B(Hρ,Hρ)=21∑α>0n(α)ρ(Hα), we now have
[TABLE]
[TABLE]
We can therefore get the expression for the radial component, δ′(ω), of ω using the above expression for γ(ω) in Theorem 2.9. This would give the most general form of the formula
[TABLE]
of the case of G=SL(2,R) to all connected semisimple Lie group G with finite center. The result is as follows.
3.4** Proposition**([2.], p. 133, and [3(a.)], p. 269). The radial component, δ′(ω), of the differential operator ω is given as
[TABLE]
Proof. Having known that
[TABLE]
and that the first sum vanishes under βn, it remains for us to find an expression for the sum ∑1≤i≤n(α),α>0(Xα,iX−α,i+X−α,iXα,i) in terms of members, fα and gα, of R0+, as expected in the expression for δ′(ω) in Theorem 2.9 and explicitly seen in the case of G=SL(2,R).
To this end, let Xα,i=Kα,i+Sα,i where Kα,i∈t and Sα,i∈p. Since [Xα,i,X−α,i]=[Kα,i+Sα,i,K−α,i+S−α,i]=[Kα,i+Sα,i,−Kα,i+Sα,i]=2[Kα,i,Sα,i]∈p, and [X,X′]≡B(X,X′)Hα(modm),X∈gα,X′∈g−α, we arrive at [Xα,i,X−α,i]=Hα. This then means that [Kα,i,Xα,i]=[Kα,i,Sα,i]=21[Xα,i,X−α,i]=21Hα. Now setting X=Xα,i and g=Xα,i in
[TABLE]
(from the equation (∗) of the proof of Theorem 2.7) gives
[TABLE]
so that
[TABLE]
which when substituted into the above expression for ω gives
[TABLE]
Using the kernel of βn, and hence of γn, in the expression for δ′(ω) we have
[TABLE]
[TABLE]
As from now on we may start the discussion on the asymptotic behaviour of the spherical functions, φ, from the pertubation theory of the system of differential equations satisfied by it given as
[TABLE]
with δ′(ω) as in Theorem 3.4. This is already contained in [3(a.)],[3(b.)],[11.] and, more recently [10.] In the present paper however, we shall seek to generalize the outlook that led, in §2., to the notion of a confluent spherical function to all semisimple Lie groups, with real rank 1. This would require loading the structure of G and its Lie algebra, g, into the known expressions for δ′(ω) and γn(λ) as we do next.
We now take G to be a connected semisimple Lie group with finite center and real rank 1. i.e., dim(a)=1. This implies that there exists exactly one simple root in Δ that we denote by α. This also means that 2α is the only other possible element in Δ+ and, if p and q represents the numbers n(α) and n(2α) of roots in Δ which coincide on a+ with α and 2α, respectively, then
[TABLE]
and that p≥1,q≥0. Now choose H0∈a+ such that α(H0)=1. Since, for any H∈a, we always have B(H,H)=2∑λ∈Δ+n(λ)⋅λ(H)2=2(n(α)⋅(α(H))2+n(2α)⋅((2α)(H))2)=2α(H)2(p+4q), hence
[TABLE]
and B(Hα,Hα)=2⋅α(Hα)2(p+4q)). i.e., α(Hα)=2α(Hα)2(p+4q). (since λ(H′)=B(Hλ,H′), for all H′∈a.) This implies that α(Hα)=(2(p+4q))−1. Therefore
[TABLE]
Equation (ii.) and the relation ρ=21(p+2q)⋅α also imply that Hρ=ρ(Hα)⋅H0=21(p+2q)⋅α(Hα)⋅H0=21(p+2q)(2(p+4q))−1⋅H0. i.e.,
[TABLE]
We now state the major result of this section as follows. This result generalizes the situation of SL(2,R) above and motivates the concept of a confluent spherical function.
§4. Confluent Spherical Functions And Their Algebra.
4.1** Theorem.** Let G be a real rank 1 connected semisimple Lie group with finite center and having the polar decomposition G=K⋅cl(A+)⋅K. Then every K− biinvariant function on G is spherical iff it is a hypergeometric function.
Proof. Using the isomorphism t⟼exptH0,t∈R between R and A we identify H0 with dtd so that
[TABLE]
In the case of γn(ω)(λ), we identify aC∗ with C via the map λ⟼λ(H0), and for every H1∈a, we set B(H1,H1)=1. Now if we substitute H=H1 into the relation B(H,H)=2α(H)2(p+4q), it gives H1=(2(p+4q))−21H0, and when used with the expression for Hρ in (iii.) above we have (from Lemma 3.3) that
[TABLE]
[TABLE]
We now substitute the expressions for δ′(ω) and γn(ω)(λ) in (iv.) and (v.) into the equation
[TABLE]
and define the function fλ on R, as fλ(t)=φλ(exptH0), which is possible because of the above isomorphism between R and A, to have
[TABLE]
This is the equation (Υ) at the tail-end of §2. for G=SL(2,R), where p=2 and q=0. We now transform (ΥΥ), as done in §2. for φλ′′+2coth2tφλ′+(1−λ2)φλ=0, by setting z=−(sinht)2. This implies that dtdz=−2sinhtcosht from which we may deduce that dtd=(−2sinhtcosht)dzd and dt2d2=(4sinh2tcosh2t)dz2d2−2(sinh2t+cosh2t)dzd. Defining a function, gλ, on C as gλ(z)=fλ(t) under the transformation z=−(sinht)2 then converts equation (ΥΥ) to
[TABLE]
where the constants a,b,c are given by a=4p+2q+2λ,b=4p+2q−2λ,c=2p+q+1, respectively.
This is the well-known Gauss’ hypergeometric equation. The point z=0 which corresponds to t=0, is a regular singular point for this equation, and it is known that there is exactly one solution of it which is analytic at z=0 and takes the value 1 there. This is the hypergeometric functions, F(a,b,c:z), which, for ∣z∣<1, is given as
[TABLE]
where (m)k:=m(m+1)⋯(m+k−1). Now since gλ(0)=fλ(0)=φλ(1)=1 and gλ is analytic in z at z=0 we conclude that
[TABLE]
where t∈R and a,b,c are as given above.
Conversely, let a function φλ be K− biinvariant and be given as φλ(exptH0)=F(a,b,c:−(sinht)2) for some a,b,c. If we consider the equation
[TABLE]
for some yet-to-be known constant γn(ω)(λ)∈C, then a=4p+2q+2γn(ω)(λ),b=4p+2q−2γn(ω)(λ), and c=2p+q+1. For any known real rank 1 connected semisimple Lie group G, with finite center, in which p and q are also known, we may solve for γn(ω)(λ) explicitly from the above relations. With the fact that φλ(1)=F(a,b,c:0)=1 we conclude that φλ is a spherical function on G.□
The above result shows the one-to-one correspondence between the hypergeometric functions and spherical functions on real rank 1 semisimple Lie groups, G. Now we recall the well-known notion of the confluent hypergeometric function and use it, via Theorem 4.1 above, to introduce the notion of a confluent spherical function on G, which is then later generalized using the Stanton-Tomas expansion for spherical functions.
We recall that replacing z(=−(sinht)2) by bz(=b−(sinht)2) the hypergeometric equation gives
[TABLE]
becoming, as b⟶∞,
[TABLE]
whose solution, gλ, is the confluent hypergeometric function, 1F(a,c:z), is clearly given as
[TABLE]
where a,c and z are as above. Theorem 4.1 implies that there exists a K− biinvariant function, say φλσ, on G such that φλσ=1F. It would be important to have a concise way of defining the function φλσ. To do this we study more closely the properties of 1F as follows.
The relationship between z and t, given as z=−(sinht)2, could be recast as t=sinh−1(iz). Now the process of deriving the confluent hypergeometric equation above entails substituting z with bz, before applying the limit as b⟶∞. Doing the same for the expression t=sinh−1(iz), we have t=sinh−1(ibz). In applying the limit as b⟶∞, it follows that t⟶0. Now as limb⟶∞F(a,b,c:bz) gives 1F(a,c:z), the last statement above implies that we study limt⟶0φλ(exptH0). i.e., we study φλ(exptH0) for sufficiently small values of t. This observation is explicitly written as
[TABLE]
Since b⟶∞ results to t being very small, the equality above implies that the study of the confluent spherical functions, φλσ, on semisimple Lie groups is the same as the study of spherical functions, φλfor sufficiently small values of t.i.e., the study of the function φλσ:G→C in which given ϵ>0 we can find δ=δ(ϵ)>0 such that ∣φλ(exptH0)−φλσ(exptH0)∣<ϵ whenever t<δ.
This is the idea behind our notion of a confluent spherical function on G, and to develop this idea further we make use of the Stanton-Tomas expansion for spherical functions on a real rank 1 connected semisimple Lie group, with finite center (See [11.]). We however start with a motivation via the case of G=SL(2,R) which proves the fact that Legendre functions admit a series expansion in terms of Bessel functions.
It has been shown by Harish-Chandra, [3(a.)], that every spherical function, on any connected semisimple Lie group G, with finite center and arbitrary real rank, has the integral expansion
[TABLE]
\mboxwhereλ∈aC∗,x∈G,ρ=21∑α∈Δ+dim(gα)⋅α. When G=SL(2,R), a calculation contained in [15.], p. 339, shows that
[TABLE]
This is the integral formula for the Legendre function, Pλ−21(cosht) and is in consonance with the conclusion in §2. A change of contour in the integral yields
[TABLE]
See [11.] for some details. Now for small values of t, it is known that
[TABLE]
So that for sufficiently small values of t, we have
[TABLE]
where Jn(λt) is the Bessel function of order n, giving as the series expansion
[TABLE]
for any n∈Z, with J−n(x)=(−1)nJn(x), and, if n∈/Z,
[TABLE]
We can state our deductions above as follows.
4.2** Theorem.** The confluent spherical functions, φλσ, on G=SL(2,R) are the zero-th order Bessel functions, J0, of sufficiently small arguments.
Proof. Exactly as in the above deductions. □
This idea generalizes to all real rank 1 semisimple Lie groups and is the first main result of Stanton and Tomas, [11.]. To state their result we make some preparations.
Let n=dim(G/K), which is known to be equal to p+q+1, define c0=c0(G) and the function Jμ, respectively, as
[TABLE]
and
[TABLE]
where Jμ is the Bessel function of order μ. Let also D be the Jacobian for the polar decomposition of G, then D>0 on A+ and is given by
[TABLE]
(see §2. for its reduction in the case of SL(2,R))
In the case of a real rank 1 group, G, in which there are at most two positive roots, α and 2α, with multiplicity p and q, the Jacobian reduces to D(t)=e−2ρ0tg1(t)−pg2(t)−q where gk(t)=e−2kt(1−e−2kt)−1,k=1,2, and ρ0=21(p+2q). We now state a very important expansion formula for spherical functions, φλ, as follows.
4.3** Theorem**([11.], p. 253) There exist R0>1,R1>1, such that for any t with, 0≤t≤R0, the spherical function, φλ, has the given expansion
[TABLE]
where
[TABLE]
The error on truncating the above series is controlled as in the following.
4.4** Corollary**([11.], p. 253) There exist R0>1,R1>1, such that for any t with 0≤t≤R0 and any M≥0, the spherical function, φλ, is given as
[TABLE]
where
[TABLE]
and
[TABLE]
if ∣λt∣≤1, and
[TABLE]
if ∣λt∣>1.□
We shall refer to the expansion in Theorem 4.3 above as the Stanton-Tomas expansion for spherical functions. We are therefore motivated to give the following general definition of a confluent spherical function on a real rank 1 semisimple Lie group G.
4.5** Definition.** A confluent spherical function is any K− biinvariant function on G(=K⋅cl(A+)⋅K) which has the Stanton-Tomas expansion on A+.
Explicitly, a function φλσ∈C(G//K) is a confluent spherical function on G if there exist R0>1,R1>1 such that for any t, with 0≤t≤R0, and any λ∈C,
[TABLE]
where a0(t)≡1,\mboxand∣am(t)∣≤cR1−m.
We have φ0σ(x)=0 while the introduction of complex λ’s and their moduli guarantee that φ−λσ(x)=φλσ(x). The differential equation satisfied by the confluent spherical function is contained in the following.
4.6** Theorem.** The function, gλ:C→C which coincides with φλσ on K×cl(A+)×K, via the transformation z=−(sinht)2, for sufficiently small values of t, is a solution of the differential equation
[TABLE]
Proof. Since zdz2d2+(c−z)dzd is a differential operator on C we may take it as the realization of some q∈Q, under the transformation z=−(sinht)2, for sufficiently small values of t. As φλσ is, in particular, a spherical function on G, with sufficiently small arguments, it satisfies the relation q⋅φλσ=γ(q)(λ)φλσ, for some γ(q)(λ)∈C. The result follows if we set γ(q)(λ)=a.□
4.7** Remarks.**
The confluent spherical functions, φλσ(exptH0), are defined for all t≥0,\mboxandallλ∈C. Indeed, φλσ(1)=φλσ(exp(0)H0)=0, since D>0 on A+.
We denote the set of all confluent spherical functions on G by Cσ(G) and consider it as an algebra in the following precise manner:
4.8** Definition.** A non-empty set A, whose entries are indexed by a set Δ, is called a Δ−algebra (over a field K) if it is an (associative) algebra with respect to the operations
(i.)
aλ1+aλ2:=aλ1+λ2, for every aλ1,aλ2∈A.
(ii.)
αaλ:=aαλ, for every aλ∈A,α∈K.
(iii.)
aλ1⋅aλ2:=aλ1λ2, for every aλ1,aλ2∈A.
We shall refer to (i.)−(iii.) above as the Δ−operations on A.
One of our major results in this seminar is the following Theorem. In order to establish this result we denote the Schwartz algebra of spherical functions on G by C(G//K) and equip both Cσ(G) and C(G//K) with the aC∗−operations.
Let w denote the Weyl group of (g,a) and
[TABLE]
for some s∈w. Clearly ls−1(aC∗)=ls(aC∗),∀s∈w and, if id represent the identity element of w, then lid(aC∗)=aC∗. In general, ls(aC∗)⊆aC∗,∀s∈w.
We shall refer to a map between any two Δ−algebras as being Δ−linear if it preserves (i.) and (ii.) of Definition 4.8.
4.9** Theorem.** The sets C(G//K) and Cσ(G) are aC∗−algebras over C, where the zero and identity elements of C(G//K) are Ξ and φ1, respectively. The map σ:C(G//K)⟶Cσ(G), given by σ(φλ)=φλσ is non-trivial and well-defined up to ls(aC∗),s∈w. Moreover σ is an aC∗−linear map and an isomorphism for all real-positive λ.
Proof. We verify using the aC∗−operations that C(G//K) is a aC∗−algebra. The situation for Cσ(G) follows the same pattern.
To this end let φλ1,φλ2,φλ3,φλ∈C(G//K),\mboxandα,β∈C;
(i.)φλ1+φλ2=φλ1+λ2∈C(G//K), since λ1+λ2∈aC∗.
(ii.) It is also clear that φλ1+(φλ2+φλ3)=(φλ1+φλ2)+φλ3.
(xv.)φλ1⋅(φλ2+φλ3)=φλ1⋅(λ2+λ3)=φ(λ1⋅λ2)+(λ1⋅λ3)=(φλ1⋅φλ2)+(φλ1⋅φλ3), verifying the first statement.
The map σ is non-trivial from Theorem 4.3 and Definition 4.5.
We observe also that φλ1=φλ2 iff λ2=sλ1, for some s∈w;[2.],p.106. Since s−1λ2=λ2 iff s=id∈w, it follows therefore σ(φλ1)=σ(φs−1λ2)=σ(φλ2). Hence φλ1=φλ2 implies σ(φλ1)=σ(φλ2), showing that σ is well-defined up to lid(aC∗)=aC∗.
σ is a aC∗−linear map since σ(φλ1+φλ2)=σ(φλ1+λ2)=φλ1+λ2σ=φλ1σ+φλ2σ=σ(φλ1)+σ(φλ2)
and,
σ(αφλ)=σ(φαλ)=φαλσ=αφλσ=ασ(φλ).
onto:
Let φλσ∈Cσ(G), then λ∈ls(aC∗),s∈w. Therefore φλ∈C(G//K). Hence σ(φλ)=φλσ.
into:
Let σ(φλ1)=σ(φλ2), then from Theorem 4.3,(λ1t)n+2k−m=(λ2t)n+2k−m. Hence
[TABLE]
We then have λ1=λ2, which makes sense only if λ1,λ2∈R+.□
We shall consider the extension of these results to a connected semisimple Lie group with finite center and of real rank m>0 in another paper.
References.
[1.]
Barchini, L. and Zierau, R., Differential operators on homogeneous spaces, Notes of Lectures at the ICE-EM Australian Graduate School in Mathematics in Brisbane, 2 nd- 20 th July, (2007).Retrieved from http:// www.math.okstate.edu/zierau/papers.
html on 12 th January, 2011.
[2.]
Gangolli, R. and Varadarajan, V. S., Harmonic analysis of spherical functions on real reductive groups, Ergenbnisse der Mathematik und ihrer Grenzgebiete, 101, Springer-Verlag, 1988.
[3.]
Harish-Chandra, (a.) Spherical functions on a semisimple Lie group I, Amer. J. Math.,80, (1958), pp. 241−310. (b.) Spherical functions on a semisimple Lie group II, Amer. J. Math.,80, (1958), pp. 553−613.
[4.]
Helgason, S., Differential geometry and symmetric spaces, Academic Press, 1962.
[5.]
Hirano, M., Ishii, T., and Oda, T., confluent from Siegel-Whittaker functions to Whittaker functions on Sp(2,R), (2004), pp. 1-14.
[6.]
Knapp, A. W., Lie groups beyond an introduction, Progress in Mathematics, 140, Birka¨user Verlag, 2002.
[7.]
Knapp, A. W., and Trapa, P. E., Representations of semisimple Lie groups, IAS/Park City Mathematics Series, 8, (1998), pp. 1-83.