For this sub-case, we can define the Lie algebra of a Lie group $G$ as the set of all matrices $M∈G$ such that for all $t∈R$:
If we fix a given $M$ and vary $t$, we obtain a subgroup of $G$. This type of subgroup is known as a one parameter subgroup.

$e_{tM}∈G$

The immediate question is then if every element of $G$ can be reached in a unique way (i.e. is the exponential map a bijection). By looking at the matrix logarithm however we conclude that this is not the case for real matrices, but it is for complex matrices.

TODO example it can be seen that the Lie algebra is not closed matrix multiplication, even though the corresponding group is by definition. But it is closed under the Lie bracket operation.