Example at: Lie Groups, Physics, and Geometry by Robert Gilmore (2008) Chapter 7 "EXPonentiation".

Furthermore, the non-compact part is always isomorphic to $R_{n}$, only the non-compact part can have more interesting structure.

Example at: Lie Groups, Physics, and Geometry by Robert Gilmore (2008) Chapter 7 "EXPonentiation".

Furthermore, the non-compact part is always isomorphic to $R_{n}$, only the non-compact part can have more interesting structure.