§ 5. Groups operating on a set
1. Monoid operating on a set
Definition 1
Let M be a monoid, with law written multiplicatively and identity element denoted by e, and E a set. An action of M on E is called a left (resp. right) operation of M on E if and (resp. ) for all .
In other words, a left (resp. right) operation of a monoid M on a set E is a monoid homomorphism of M into the monoid (resp. the opposite monoid of ) with composition of mappings. If the law of action corresponding to the action of M is denoted by left (resp. right) multiplication, the fact that this action is a left (resp. right) operation may be expressed by the formulae
(1)
Under these conditions, it is also said that M operates on E on the left (resp. right) and that the corresponding laws of action are laws of left (resp. right) operation of the monoid M on E.
Let M be a monoid; a set E with a left (resp. right) operation of M on E is called a left (resp. right) M-set. The monoid M is said to operate on the left (resp. right) faithfully if the mapping of M into is injective.
Example
(1) Let E be a set; the canonical action of on E (§ 3, no. 1, Example 3) is a left operation.
(2) Let M be a monoid. The left (resp. right) action of M on itself derived from the law on M (§ 3, no. 3, Example 7) is a left (resp. right) operation of M on itself. When considering this operation, we say that M operates on itself by left (resp. right) translation.
Let E be a left (resp. right) M-set and the opposite monoid to M. Under the same action, the monoid operates on E on the right (resp. left). The -set obtained is called opposite to the M-set E. The definitions and results relating to left M-sets carry over to right -sets when passing to the opposite structures.
In the rest of this paragraph, we shall consider, unless otherwise stated, only left M-sets which we shall call simply M-sets. Their law of action will be denoted by left multiplication.
Let E be a set. Let G be a group operating on E. For all in G, the element of defined by is a permutation of E ( 2, no. 3, Example 2). Being given an operation of G on E therefore amounts to being given a homomorphism of G into .
In conformity with 3, no. 3, we make the following definition:
Definition 2
Let M be a monoid and E and E' M-sets. A mapping f of E into E' such that, for all and all , is called an M-set homomorphism (or M-morphism, or mapping compatible with the operations of M).
The identity mapping of an M-set is an M-morphism. The composition of two M-morphisms is an M-morphism. For a mapping of one M-set into another to be an isomorphism, it is necessary and sufficient that it be a bijective M-morphism and the inverse mapping is then an M-morphism.
Let be a family of M-sets and let E be the product set of . The monoid M operates on E by and E, with this action, is an M-set; let E' be an M-set; a mapping f of E' into E is an M-morphism if and only if is an M-morphism of E' into for all .
Let E be an M-set and F a stable subset of E under the action of M; with the induced law, F is an M-set and the canonical injection is an M-morphism.
Let E be an M-set and R an equivalence relation on E compatible with the action of M; the quotient with the quotient action is an M-set and the canonical mapping is an M-morphism.
Let be a monoid homomorphism, E an M-set and E' an -set. A mapping f of E into E' such that, for all and ,
is called a -morphism of E into E' (cf. 3, no. 1).
Extension of a law of operation. Given (for example) three sets , permutations of respectively and an echelon F on the base sets (Set Theory, IV, 1, no. 1), we can define, proceeding step by step on the construction of the echelon F, a permutation of F called the canonical extension of to F (Set Theory, IV, 1, no. 2); we shall denote it by .
Then let G be a group and a homomorphism of G into the symmetric group of (), in other words an operation of G on . The mapping is a homomorphism of G into , in other words an operation of G on F, called the extension of to F. Let P be a subset of F such that, for all , ; let be the restriction of to
P; then the mapping is an operation of G on P, also called the extension of to P.
For example, let K and L be two echelons on ; take F to be the set of subsets of and P to be the set of mappings of K into L, identified with their graphs. If and , is the mapping of K into L.
2. Stabilizer, fixer
Definition 3
Let M be a monoid operating on a set E and A and B subsets of E. The set of such that (resp. ) is called the transporter (resp. strict transporter) of A to B. The transporter (resp. strict transporter) of A to A is called the stabilizer (resp. strict stabilizer) of A. The set of such that for all is called the fixer of A.
An element of M is said to stabilize (resp. stabilize strictly, resp. fix) a subset A of E if belongs to the stabilizer (resp. strict stabilizer, resp. fixer) of A. A subset P of M is said to stabilize (resp. stabilize strictly, resp. fix) a subset A of E if all the elements of P stabilize (resp. strictly stabilize, resp. fix) A. The fixer of A is contained in the strict stabilizer of A which itself is contained in the stabilizer of A.
Proposition 1
Let M be a monoid operating on a set E and A a subset of E.* (a) The stabilizer, strict stabilizer and fixer of A are submonoids of M. (b) *Let be an invertible element of M; if belongs to the strict stabilizer (resp. fixer) of A, so does .
Let e be the identity element of M; then for every element and therefore e belongs to the fixer of A. Let and be elements of E which stabilize A. Then and therefore the stabilizer of A is a submonoid of M. Similarly for the strict stabilizer and fixer of A, whence (a). If , then . If for all , , then , whence (b).
Corollary
Let G be a group operating on a set E and A be a subset of E. The strict stabilizer S and the fixer F of A are subgroups of G and F is a normal subgroup of S.
The first assertion follows from the proposition and F is the kernel of the homomorphism of S into associated with the operation of S on A.
A group G operates faithfully on a set E if and only if the fixer of E consists of the identity element of G. The fixer of E is the kernel of the given homomorphism of G into ; this homomorphism is injective if and only if its kernel consists of the identity element (§ 4, no. 5, Theorem 3).
Let M be a monoid, E an M-set and an element of E. The fixer, strict stabilizer and stabilizer of are equal; this monoid is called equally the fixer or stabilizer of . The fixer of a subset A of E is the intersection of the fixers of the elements of A. is called an invariant element of E if the fixer of is the monoid M. M is said to operate trivially on E if every element of E is invariant.
Proposition 2
Let G be a group operating on a set E and, for all , let be the stabilizer of x. For all , .
If , then , whence . As , , whence .
It is seen similarly that, if A and B are two subsets of E and T is the transporter (resp. strict transporter) of A to B, then the transporter (resp. strict transporter) of to is equal to .
3. Inner automorphisms
Let G be a group. The set Aut(G) of automorphisms of the group G is a subgroup of (§ 4, no. 1, Example 2).
Proposition 3
Let G be a group. For every element x of G, the mapping Int(x): of G into itself is an automorphism of G. The mapping Int: of G into Aut(G) is a group homomorphism, whose kernel is the centre of G and whose image is a normal subgroup of Aut(G).
If and are elements of G, then and hence Int(x) is an endomorphism of G. For and elements of G,
for all , . On the other hand, is the identity mapping of G. The mapping Int is therefore a monoid homomorphism from G to the monoid End(G) of endomorphisms of the group G. As the elements of G are invertible, the mapping Int takes its values in the set Aut(G) of invertible elements of End(G) (§ 2, no. 3). Now if and only if and commute and hence is the identity mapping of G if and only if is a central element. Finally, let be an automorphism of G and let ; then
For ,
Hence .
Definition 4
Let G be a group and . The automorphism is called the inner automorphism of G defined by x and is denoted by .
For , we also write .
A subgroup of G is normal if and only if it is stable under all inner automorphisms of G (§ 4, no. 4, Definition 5). A subgroup of G is called characteristic if it stable under all automorphisms of G. The centre of a group G is a characteristic subgroup (formula (2)).
The centre of a group G is not necessarily stable under all endomorphisms of G (Exercise 22). In particular, the centre of a group with operators is not necessarily a stable subgroup.
Proposition 4
Let G be a group, H a characteristic (resp. normal) subgroup of G and K a characteristic subgroup of H. Then K is a characteristic (resp. normal) subgroup of G.
The restriction to H of an automorphism (resp. inner automorphism) of G is an automorphism of H and therefore leaves K invariant.
Let G be a group, A G and . b is said to normalize A if ; b is said to centralize A if, for all , . Let A and B be subsets of G; B is said to normalize (resp. centralize) A if every element of B normalizes (resp. centralizes) A.
The set of which normalize (resp. centralize) A is called the normalizer (resp. centralizer) of A (cf. § 1, no. 5, Definition 9); it is often denoted by or simply (resp. or ). It is a subgroup of G. When A is a subgroup of G, may be characterized as the largest subgroup of G which contains A and in which A is normal.
Remark
(1) The normalizer (resp. centralizer) of A is the strict stabilizer (resp. fixer) of A when G operates on itself by inner automorphisms. In particular the centralizer is a normal subgroup of the normalizer.
(2) The set of elements such that is a submonoid of G. Even when A is a subgroup of G, this set is not necessarily a subgroup of G (Exercise 27).
4. Orbits
Definition 5
Let G be a group, E a G-set and . An element is conjugate to x under the operation of G if there exists an element such that . The set of conjugate elements of x is called the orbit of x in E.
The relation "y is conjugate to x" is an equivalence relation. For ; if , then ; if and , then . The orbits are the equivalence classes under this relation.
A subset X of E is stable if and only if it is saturated with respect to the relation of conjugation.
The mapping of G into E is sometimes called the orbital mapping defined by x. It is a G-morphism of G (with the operation of G on itself by left translation) into E. The image of G under this mapping is the orbit of x.
G is said to operate freely on E if, for all , the orbital mapping defined by x is injective or also if the mapping of into is injective.
Example
(1) Let G be a group and consider the operation of G on itself by inner automorphisms. Two elements of G which are conjugate under this operation are called conjugate under inner automorphisms or simply conjugate. The orbits are called conjugacy classes. Similarly, two subsets H and H' of G are called conjugate if there exists an element such that , that is if they are conjugate under the extension to of the operation of G on itself by inner automorphisms.
(2) *In the space , the orbit of a point x under the action of the orthogonal group is the Euclidean sphere of radius .
The stabilizers of two conjugate elements of E are conjugate subgroups of G (no. 2, Proposition 2).
The quotient set of E under the relation of conjugation is the set of orbits of E; it is sometimes denoted by E/G or G\|E. (Sometimes the notation E/G is reserved for the case where E is a right G-set and the notation G\|E for the case where E is a left G-set.)
Let G be a group operating on a set E on the right. Let H be a normal subgroup of G. The group G operates on E/H on the right, the corresponding law of right action being ; under this operation, H operates trivially, whence a right operation of G/H on E/H. Let be the canonical mapping of E/H onto E/G; the inverse images under of the points of E/G are the orbits of G (or of G/H) in E/H. Hence defines when passing to the quotient a bijection, called canonical, of onto E/G.
Let G (resp. H) be a group operating on a set E on the left (resp. right). Suppose that the actions of G and H on E commute, that is
The action of H on E is also a left operation of the opposite group to H. It then follows from § 4, no. 9, Proposition 12 that the mapping which associates with the element the mapping of E into itself is a left operation of on E. The orbit of an element under this operation is the set . The set of these orbits is denoted by . On the other hand, the operation of G (resp. H) is compatible with the relation of conjugation with respect to the operation of H (resp. G) and the set of orbits (resp. ) is identified with : in the diagram
(where denote the canonical mappings of taking quotients), .
Let G be a group and H a subgroup of G. Consider the right operation of H on G by right translation (no. 1, Example 2). The set of orbits is the set of left cosets modulo H; note that G operates on on the left by the law (cf. no. 5). Similarly, the set of right cosets modulo H is the set of orbits of the left operation of H on G by left translation. If K is a subgroup of G containing H and is a left (resp. right) coset modulo H, then (resp. ) is a left (resp. right) coset modulo K. The mapping (resp. ) is called the canonical mapping of into (resp. of into ). It is surjective.
Let G be a group and H and K two subgroups of G. Let H operate on G on the left by left translation and K on the right by right translation; these two operations commute, which allows us to consider the set . The elements of are called the double cosets of G modulo H and K. When , we simply say double cosets modulo H. For the canonical mapping of onto to be a bijection, it is necessary and sufficient that H be a normal subgroup of G.
5. Homogeneous sets
Definition 6
Let G be a group. An operation of G on a set E is called transitive if there exists an element whose orbit is E. A G-set E is called homogeneous if the operation of G on E is transitive.
It is also said that G operates transitively on E; or that E is a homogeneous set under G. It amounts to the same to say that E is non-empty and that, for all elements and of E, there exists an element such that .
Example
If E is a G-set, each orbit of E, with the induced operation, is a homogeneous set under G.
Let G be a group and H a subgroup of G. Consider the set of left cosets modulo H. The group G operates on on the left by . Let N be the normalizer of H. The group N operates on on the right by . This operation induces on H the trivial operation and hence, on passing to the quotient, operates on on the right. Let be the homomorphism corresponding to this operation.
Proposition 5
With the above notation, G/H is a homogeneous G-set. The mapping induces an isomorphism of onto the group of automorphisms of the G-set G/H.
The orbit in of the element is , whence the first assertion. We now prove the second. If defines by right translation the identity mapping on , then , that is , whence . Therefore
N/H operates faithfully on G/H on the right and is injective. The left operation of G and right operation of N/H on G/H commute and hence the operators of N/H define G-morphisms of G/H into itself, which are necessarily G-automorphisms since they are bijective. Therefore takes its values in the group of G-automorphisms of G/H. We show that the image of is . Let . By transporting the structure, the stabilizer of in G is equal to the stabilizer of and hence to H. Let be such that . The stabilizer of in G is (no. 2, Proposition 2), whence and . For every element of G/H, and coincides with the mapping defined by .
Remark
(1) Let G be a group, H a subgroup of G and the homomorphism corresponding to the operation of G on G/H. The kernel of is the intersection of the conjugates of H (no. 2, Proposition 2). It is also the largest normal subgroup contained in H (no. 3). In particular, G operates faithfully on G/H if and only if the intersection of the conjugates of H reduces to .
(2) Let G be a group and H and K subgroups such that H is a normal subgroup of K. Then K/H operates on the G-set G/H on the right and the canonical mapping of G/H onto G/K defines on passing to the quotient a G-set isomorphism (cf. no. 4).
Proposition 6
Let G be a group, E a homogeneous G-set, , H the stabilizer of a and K a subgroup of G contained in H. There exists one and only one G-morphism f of G/K into E such that . If K = H, f is an isomorphism.
If f is a solution, then for all x in G, whence the uniqueness; we show the existence. The orbital mapping defined by a is compatible with the equivalence relation on G. For, if , then
Theorem 1
Let G be a group.* (a) Every homogeneous G-set is isomorphic to a homogeneous G-set of the form G/H where H is a subgroup of G. (b) *Let H and H' be two subgroups of G. The G-sets G/H and G/H' are isomorphic if and only if H and H' are conjugate.
As a homogeneous G-set is non-empty, assertion (a) follows from Proposition 6. We show (b). Let be a G-set isomorphism. The subgroup H is the stabilizer of H and hence, by transport of structure, the stabilizer of an element of . The subgroups and are therefore conjugate (no. 2, Proposition 2). If , is the stabilizer of the element of (no. 2, Proposition 2) and hence is isomorphic to (Proposition 6).
Example
(1) Let be a non-empty set. The group operates transitively on . If and are two elements of , the mapping such that , and for , is a permutation of . Let . The stabilizer of is identified with , where . The homogeneous -set is thus isomorphic to .
(2) Let be a set of elements and a finite family of integers such that . Let be the set of partitions of such that for all . The group operates transitively on . The stabilizer of an element of is canonically isomorphic to and is hence of order . Applying Theorem 1 and § 4, no. 4, Corollary to Proposition 4, a new proof is obtained of the fact that
In particular, take , ,
for . Let be the set of such that is increasing for . If there exists one and only one which maps to . In other words, each left coset of modulo meets in one and only one point.
(3) *Let be an integer . The orthogonal group operates transitively on the unit sphere in . The stabilizer of the point is identified with the orthogonal group . The homogeneous -set is thus isomorphic to .
6. Homogeneous principal sets
Definition 7
Let be a group. An operation of on a set is called simply transitive if there exists an element of such that the orbital mapping defined by is a bijection. A set , together with a simply transitive left action of on , is called a left homogeneous principal -set (or left homogeneous principal set under ).
It amounts to the same to say that operates freely and transitively on , or also that there exists an element such that the orbital mapping defined by is an isomorphism of the -set (where operates by left translation) onto ; or also that the two following conditions are satisfied:
(i) is non-empty. (ii) for all elements and of , there exists one and only one element such that .
Condition (ii) is also equivalent to the following condition:
(iii) the mapping is a bijection of onto .
We leave to the reader the task of defining right homogeneous principal G-sets.
Example
(1) Let G operate on itself by left (resp. right) translation. Thus a left (resp. right) homogeneous principal G-set structure is defined on G, which is sometimes denoted by (resp. ).
(2) Let E be a homogeneous set under a commutative group G. If G operates faithfully on E, the latter is a homogeneous principal G-set.
(3) Let E and F be two isomorphic sets with structures of the same species and let Isom(E, F) be the set of isomorphisms of E onto F (with the given structures). The group Aut(E) of automorphisms of E (with the given structure) operates on Isom(E, F) on the right by the law and Isom(E, F) is a right homogeneous principal Aut(E)-set. Similarly, the group Aut(F) operates on Isom(E, F) on the left by the law and Isom(E, F) is a left homogeneous principal Aut(F)-set.
(4) *A homogeneous principal set under the additive group of a vector space is called an affine space (cf. II, § 9, no. 1).
The group of automorphisms of the homogeneous principal G-set (Example 1) is the group of right translations of G which is identified with (no. 5, Proposition 5). Let E be a homogeneous principal G-set and an element of E. The orbital mapping defined by is an isomorphism of the G-set onto E. By transporting the structure an isomorphism is derived of onto Aut(E). It should be noted that in general depends on a; more precisely, for ,
For, writing for the translation on G,
7. Permutation groups of a finite set
If E is a finite set with elements, the symmetric group (§ 4, no. 1) is a finite group of order . When E is the interval of the set of natural numbers, the corresponding symmetric group is denoted by ; the symmetric group of any set with elements is isomorphic to .
Definition 8
Let E be a finite set, a permutation of E and the subgroup of generated by . is called a cycle if, under the operation of on E, there exists one and only one orbit which is not reduced to a single element. This orbit is called the support of .
Let be a cycle. The support of is the set of such that .
The order of a cycle is equal to the cardinal of its support. The subgroup generated by operates transitively and faithfully on . As is commutative, is a principal set under (no. 6, Example 2) and hence .
Lemma 1
Let be a family of cycles whose supports are pairwise disjoint. Then the are pairwise permutable. Let and be the subgroup generated by . Then for , and for . The mapping is a bijection of I onto the set of -orbits not consisting of a single element.
Let and be two cycles whose supports are disjoint. If
Proposition 7
Let E be a finite set and a permutation of E. There exists one and only one finite set C of cycles satisfying the two following conditions:
(a) the supports of the elements of C are pairwise disjoints;
(b) (the elements of C being pairwise permutable by Lemma 1).
Let be the subgroup generated by and let S be the set of -orbits not consisting of a single element. For , write if and if . For all , is a cycle whose support is and , as is seen by applying the two sides to any element of E. The uniqueness of C follows from Lemma 1.
Definition 9
A cycle of order 2 is called a transposition.
Let and be two distinct elements of E. Let denote the unique transposition with support .
For every permutation of E the permutation is a transposition whose support is . Hence:
(4)
Transpositions thus form a conjugacy class in the group .
Proposition 8
Let E be a finite set. The group is generated by the transpositions.
For every permutation let be the set of such that . We show by descending induction on that every permutation such that is a product of transpositions. If , the permutation is the identity mapping of E; it is the product of the empty family of transpositions. If , suppose that the property is proved for every permutation such that . Now ; let and . Then and . Let . The set contains and and hence . By the induction hypothesis is a product of transpositions and hence is a product of transpositions.
Proposition 9
Let n be an integer . The group is generated by the transpositions* .
By virtue of Proposition 8, it suffices to show that every transposition , , belongs to the subgroup H generated by the , . We show this by induction on . For , it is obvious. If , then (formula (4)) . By the induction hypothesis and therefore .
If , every ordered pair of elements of such that and is called an inversion of . Let denote the number of inversions of .
Let P be the additive group of mappings from to . For and , let be the element of P defined by
(5)
The action of on P thus defined is an operation; for all and , and
Let be the element of P defined by
Lemma 2
and for .
and hence . On the other hand, if , then
Let C be the set of ordered pairs such that . A permutation is defined on C by setting if is not an inversion, if is an inversion. This implies .
Theorem 2
Let E be a finite set. There exists one and only one homomorphism from to the multiplicative group such that for every transposition .
The uniqueness follows from Proposition 8. We show the existence. By transporting the structure, it may be assumed that . Using the above notation, let . Then (Lemma 2)
On the other hand,
As , it follows that and thus is a homomorphism. We now show that, for every transposition , . , whence . As every transposition is conjugate to and the group is commutative, .
Definition 10
In the notation of Theorem 2, the number (also denoted ) is called the signature of the permutation . The kernel of the homomorphism is called the alternating group of E.
is called even (resp. odd) if (resp. ). The alternating group of E is denoted by . It is a normal subgroup of . When , it is simply denoted by . When the cardinal of E is , it is a subgroup of index 2 and hence of order . It can be shown that, for or , the group is a simple group (cf. Exercise 16).
Example
If is a cycle of order , then
Exercises
See the exercises for § 5.