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MR1694700 (2000d:34022) 34A45 (17B66 22E30 34C40 37C10 37M99 65L99)
Iserles, A.; Nørsett, S. P. On the solution of linear differential equations in Lie groups. R. Soc. Lond. Philos. Trans. Ser. A Math. Phys. Eng. Sci. 357 (1999), no. 1754, 983--1019.
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