https://www.allisone.co.jp/note/mathematics/derivative/matrix-calculus/proofs-lie2_en.html
BCH Formula and Perturbation | Proofs of Matrix Calculus Formulas
Differentiation on Lie groups (Lie-2). Derivations of the Baker-Campbell-Hausdorff formula, differentials of the Lie bracket and adjoint representation, the...
bch formulamatrix calculusperturbationproofsformulas