The authors gave an example showing an error in [Reference Lee and Lee2, Lemma 3.3], and below offer at least a partial correction for that error under the unimodularity assumption. This makes all of the remaining results in [Reference Lee and Lee2] valid.
Consider the three-dimensional solvable non-unimodular Lie algebra $\mathfrak{S}$:
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU1.gif?pub-status=live)
This Lie algebra has a faithful matrix representation as follows:
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU2.gif?pub-status=live)
We can choose an ordered (linear) basis for $\mathfrak{S}$:
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU3.gif?pub-status=live)
They satisfy $[\mathbf{b}_{1},\mathbf{b}_{2}]=\mathbf{0}$,
$[\mathbf{b}_{3},\mathbf{b}_{1}]=\mathbf{b}_{1}$ and
$[\mathbf{b}_{3},\mathbf{b}_{2}]=\mathbf{b}_{2}$. The connected and simply connected solvable Lie group
$S$ associated with the Lie algebra
$\mathfrak{S}$ is
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU4.gif?pub-status=live)
Let $g=((x,y),t)$ denote an element of
$S$. Because
$\text{Ad}(g):\mathfrak{S}\rightarrow \mathfrak{S}$ is given by
$\text{Ad}(g)(A)=gAg^{-1}$ for
$A\in \mathfrak{S}$, a simple computation shows that the adjoint of
$g$ is given by
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU5.gif?pub-status=live)
Let ${\it\varphi}$ be a Lie algebra homomorphism on
$\mathfrak{S}$. Since
$[\mathfrak{S},\mathfrak{S}]$ is generated by
$\mathbf{e}_{1}$ and
$\mathbf{e}_{2}$, we have
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU6.gif?pub-status=live)
for some $m_{ij},p,q,m\in \mathbb{R}$. Since
${\it\varphi}$ preserves the bracket operations
$[\mathbf{b}_{3},\mathbf{b}_{1}]=\mathbf{b}_{1}$ and
$[\mathbf{b}_{3},\mathbf{b}_{2}]=\mathbf{b}_{2}$, it follows easily that
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU7.gif?pub-status=live)
Therefore, with respect to the basis $\{\mathbf{b}_{1},\mathbf{b}_{2},\mathbf{b}_{3}\}$ of
$\mathfrak{S}$,
${\it\varphi}$ is one of the following:
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU8.gif?pub-status=live)
Now we can easily check that
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU9.gif?pub-status=live)
This example shows that [Reference Lee and Lee2, Lemma 3.3] is not true in general. We remark also that $S$ is not unimodular, and hence, as can be expected,
$\det (\text{Ad}(g))=e^{2t}\neq 1$ for all
$t\neq 0$. We prove, however, that the lemma is true under the unimodularity assumption of the connected Lie group. That is, the following theorem.
Theorem 1. Let $S$ be a connected and simply connected solvable Lie group, and let
$D:S\rightarrow S$ be a Lie group homomorphism. If
$S$ is unimodular, then for any
$x\in S$,
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU10.gif?pub-status=live)
Remark 2. It is known that if a Lie group admits a lattice (discrete cocompact subgroup), then it is unimodular. Consequently, the remaining results of [Reference Lee and Lee2] are valid.
Lemma 3. Let $S$ be a connected and simply connected solvable Lie group, and let
$D:S\rightarrow S$ be a Lie group homomorphism. Then, for any
$x\in S$,
$I-D_{\ast }$ is an isomorphism if and only if
$I-\text{Ad}(x)D_{\ast }$ is an isomorphism.
Proof. Because $I-\text{Ad}(x^{-1})\text{Ad}(x)D_{\ast }=I-D_{\ast }$, it suffices to show the only if.
Let $G=[S,S]$; then
$G$ is nilpotent, and
$S/G\cong \mathbb{R}^{k}$ for some
$k$. Then we have the following commutative diagram:
This induces the following commutative diagram:
For $x\in S$, we denote by
${\it\tau}_{x}$ the inner automorphism on
$S$ whose differential is
$\text{Ad}(x)$. This induces an automorphism on
$G$, and we still denote it by
${\it\tau}_{x}$ and its differential is
$\text{Ad}^{\prime }(x)$. Then we can express
$I-D_{\ast }$ and
$I-\text{Ad}(x)D_{\ast }$ as
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU13.gif?pub-status=live)
with respect to some linear basis for $\mathfrak{S}$.
Assume that $I-\bar{D}_{\ast }$ is an isomorphism. We claim that
$I-D_{\ast }^{\prime }$ is an isomorphism if and only if
$I-\text{Ad}^{\prime }(x)D_{\ast }^{\prime }$ is an isomorphism.
Since $I-\bar{D}$ is an isomorphism on
$\mathbb{R}^{k}$,
$\text{fix}(\bar{D})=\ker (I-\bar{D})$ is a trivial group. For any
$x\in S$, we consider the exact sequence of the Reidemeister sets
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU14.gif?pub-status=live)
$\hat{p}^{x}$ is surjective, and
$(\hat{p}^{x})^{-1}([\bar{1}])=\text{im}(\hat{i} ^{x})$. If
$\hat{i} ^{x}([g_{1}])=\hat{i} ^{x}([g_{2}])$ for some
$g_{1},g_{2}\in G$, then by definition there is
$y\in S$ such that
$g_{2}=yg_{1}({\it\tau}_{x}D(y))^{-1}$. The image in
$S/G$ is then
$\bar{g}_{2}=\bar{y}\bar{g}_{1}\bar{D}(\bar{y})^{-1}$, which yields that
$\bar{y}\in \text{fix}(\bar{D})=\{\bar{1}\}$, and so
$y\in G$. This shows that
$\hat{i} ^{x}$ is injective for all
$x\in S$. Because there is a bijection between the Reidemeister sets
${\mathcal{R}}[D]$ and
${\mathcal{R}}[{\it\tau}_{x}D]$ given by
$[g]\mapsto [gx^{-1}]$, it follows that
$R(D^{\prime })=R({\it\tau}_{x}D^{\prime })$. On the other hand, by [Reference Dekimpe and Penninckx1, Lemma 3.4], since
$I-\bar{D}_{\ast }$ is an isomorphism,
$R(\bar{D})<\infty$, and
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU15.gif?pub-status=live)
This proves our claim.
Now assume that $I-D_{\ast }$ is an isomorphism. Then it follows that
$I-\bar{D}_{\ast }$ and
$I-D_{\ast }^{\prime }$ are isomorphisms. By the above claim,
$I-\text{Ad}^{\prime }(x)D_{\ast }^{\prime }$, and hence
$I-\text{Ad}(x)D_{\ast }$ are isomorphisms.◻
Proof of Theorem 1.
If $S$ is Abelian, then
$\text{Ad}(x)$ is the identity and hence there is nothing to prove. We may assume that
$S$ is non-Abelian. Further, by Lemma 3, we may assume that
$I-D_{\ast }$ is an isomorphism. Hence,
$I-\bar{D}_{\ast }$ and
$I-\text{Ad}(x)D_{\ast }$ are isomorphisms for all
$x\in S$.
Denote $G=[S,S]$ and
${\rm\Lambda}_{0}=S/G$. Then
$G$ is nilpotent, and
${\rm\Lambda}_{0}\cong \mathbb{R}^{k_{0}}$ for some
$k_{0}>0$. Consider the lower central series of
$G$:
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU16.gif?pub-status=live)
where ${\it\delta}_{i+1}(G)=[G,{\it\delta}_{i}(G)]$. Let
${\rm\Lambda}_{i}={\it\delta}_{i}(G)/{\it\delta}_{i+1}(G)$. Then
${\rm\Lambda}_{i}\cong \mathbb{R}^{k_{i}}$ for some
$k_{i}>0$. For each
$x\in S$, the conjugation
${\it\tau}_{x}$ by
$x$ induces an automorphism on
$G$. Since each
${\it\delta}_{i}(G)$ is a characteristic subgroup of
$G$,
${\it\tau}_{x}\in \text{Aut}(G)$ restricts to an automorphism on
${\it\delta}_{i}(G)$, and hence on
${\rm\Lambda}_{i}$. Now, if
$x\in G$, then we have observed that the induced action on
${\rm\Lambda}_{i}$ is trivial. Consequently, there is a well-defined action of
${\rm\Lambda}_{0}=S/G$ on
${\rm\Lambda}_{i}$. Hence, there is a well-defined action of
${\rm\Lambda}_{0}$ on
${\rm\Lambda}_{i}$. This action can be viewed as a homomorphism
${\it\mu}_{i}:{\rm\Lambda}_{0}\rightarrow \text{Aut}({\rm\Lambda}_{i})$. Note that
${\it\mu}_{0}$ is trivial. Moreover, for any
$x\in S$ denoting its image under
$S\rightarrow {\rm\Lambda}_{0}$ by
$\bar{x}$, the differential of conjugation
${\it\tau}_{x}$ by
$x$ can be expressed as a matrix of the form
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU17.gif?pub-status=live)
by choosing a suitable basis of the Lie algebra $\mathfrak{S}$ of
$S$.
The homomorphism $D:S\rightarrow S$ induces homomorphisms
$D_{i}:{\it\delta}_{i}(G)\rightarrow {\it\delta}_{i}(G)$ and hence homomorphisms
$\bar{D}_{i}:{\rm\Lambda}_{i}\rightarrow {\rm\Lambda}_{i}$, so that the following diagram is commutative:
Hence, the differential of $D$ can be expressed as a matrix of the form
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU19.gif?pub-status=live)
with respect to the same basis for $\mathfrak{S}$ chosen as above.
Furthermore, the above commutative diagram produces the following identities:
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU20.gif?pub-status=live)
Let $x\in S$ with
$\bar{x}\in {\rm\Lambda}_{0}=\mathbb{R}^{k_{0}}$. Since
$I-\bar{D}_{0}:\mathbb{R}^{k_{0}}\rightarrow \mathbb{R}^{k_{0}}$ is invertible, we can choose
$\bar{y}\in {\rm\Lambda}_{0}$ so that
$(I-\bar{D}_{0})(\bar{y})=\bar{x}$. Now, using the above identities, we observe that
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU21.gif?pub-status=live)
Consequently, we have
![](https://static.cambridge.org/binary/version/id/urn:cambridge.org:id:binary:20160407091117551-0842:S0027763016000064_eqnU22.gif?pub-status=live)
This completes the proof of our theorem. ◻