This work investigates the stability analysis of linear control systems defined on Lie groups, with a particular focus on low-dimensional cases. Unlike their Euclidean counterparts, such systems evolve on manifolds with non-Euclidean geometry, where trajectories respect the group’s intrinsic symmetries. Stability notions, such as inner asymptotic, inner, and input–output (BIBO) stability, are studied. The qualitative behavior of solutions is shown to depend critically on the spectral decomposition of derivations associated with the drift, and on the algebraic structure of the underlying Lie algebra. We study two classes of examples in detail: Abelian and solvable two-dimensional Lie groups, and the three-dimensional nilpotent Heisenberg group. These settings, while mathematically tractable, retain essential features of non-commutativity, geometric non-linearity, and sub-Riemannian geometry, making them canonical models in control theory. The results highlight the interplay between algebraic properties, invariant submanifolds, and trajectory behavior, offering insights applicable to robotic motion planning, quantum control, and signal processing.
Ayala et al. (Mon,) studied this question.