Editing Infinitesimal transformation (section)

==History==
A comprehensive theory of infinitesimal transformations was first given by [[Sophus Lie]]. This was at the heart of his work, on what are now called [[Lie group]]s and their accompanying [[Lie algebra]]s; and the identification of their role in [[geometry]] and especially the theory of [[differential equation]]s. The properties of an abstract [[Lie algebra]] are exactly those definitive of infinitesimal transformations, just as the axioms of [[group theory]] embody [[symmetry]]. The term "Lie algebra" was introduced in 1934 by [[Hermann Weyl]], for what had until then been known as the ''algebra of infinitesimal transformations'' of a Lie group.