Nilpotent group: Difference between revisions

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! No. !! Shorthand !! A group is termed nilpotent if ... !! A group <math>G</math> is termed nilpotent if ...
! No. !! Shorthand !! A group is termed nilpotent if ... !! A group <math>G</math> is termed nilpotent if ...
|-
|-
| 1 || upper central series || its [[upper central series]] stabilizes after a finite length at the whole group || there is a nonnegative integer <math>c</math> such that <math>Z^c(G) = G</math>. Here, we define <math>Z^c(G)</math> inductively as follows:
| 1 || upper central series || its [[upper central series]] stabilizes after a finite length at the whole group || there is a nonnegative integer <math>c</math> such that <math>Z^c(G) = G</math>. Here, we define <math>Z^i(G)</math> inductively as follows:
<math>Z^c(G)</math> is the inverse image of the [[defining ingredient::center]] <math>Z(G/Z^{c-1}(G))</math> under the natural [[quotient map]] from <math>G</math> to <math>G/Z^{c-1}(G)</math>, and <math>Z^0(G)</math> is the trivial subgroup.  
<math>Z^i(G)</math> is the inverse image of the [[defining ingredient::center]] <math>Z(G/Z^{i-1}(G))</math> under the natural [[quotient map]] from <math>G</math> to <math>G/Z^{i-1}(G)</math>, and <math>Z^0(G)</math> is the trivial subgroup.  
|-
|-
| 2 || lower central series || its [[lower central series]] stabilizes after a finite length at the trivial subgroup || there is a nonnegative integer <math>c</math> such that <math>[[[..[G,G],G],G],...G]</math> is trivial where <math>G</math> is repeated <math>c + 1</math> times. Here, <math>[,]</math> denotes the [[defining ingredient::commutator of two subgroups]]. In other words, the [[defining ingredient::lower central series]] of <math>G</math> reaches the identity in finitely many steps.
| 2 || lower central series || its [[lower central series]] stabilizes after a finite length at the trivial subgroup || there is a nonnegative integer <math>c</math> such that <math>[[[..[G,G],G],G],...G]</math> is trivial where <math>G</math> is repeated <math>c + 1</math> times. Here, <math>[,]</math> denotes the [[defining ingredient::commutator of two subgroups]]. In other words, the [[defining ingredient::lower central series]] of <math>G</math> reaches the identity in finitely many steps.
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| 4 || diagonal subnormal in square || the diagonal subgroup is [[defining ingredient::subnormal subgroup|subnormal]] in the [[defining ingredient::square of a group|square]] of the group || the subgroup <math>\{ (g,g) : g \in G \}</math> is [[subnormal subgroup|subnormal]] in the [[square of a group|square]] <math>G \times G</math> with [[subnormal depth]] <math>c</math>.
| 4 || diagonal subnormal in square || the diagonal subgroup is [[defining ingredient::subnormal subgroup|subnormal]] in the [[defining ingredient::square of a group|square]] of the group || the subgroup <math>\{ (g,g) : g \in G \}</math> is [[subnormal subgroup|subnormal]] in the [[square of a group|square]] <math>G \times G</math> with [[subnormal depth]] <math>c</math>.
|-
|-
| 5 || iterated left-normed commutators trivial || there is a finite length such that any iterated left-normed [[defining ingredient::commutator]] of length more than that becomes trivial || there is a length <math>c</math> such that any [[defining ingredient::commutator]] of the form <math>[[\dots[x_1,x_2],x_3],\dots,x_{c+1}]</math> takes value the identity element, where the <math>x_i</math> are (possibly repeated) elements of <math>G</math>.
| 5 || iterated left-normed commutators trivial || there is a finite length such that any iterated left-normed [[defining ingredient::commutator]] of length more than that becomes trivial || there is a length <math>c</math> such that any [[defining ingredient::commutator]] of the form <math>[[\dots[[x_1,x_2],x_3],\dots],x_{c+1}]</math> takes value the identity element, where the <math>x_i</math> are (possibly repeated) elements of <math>G</math>.
|-
|-
| 6 || iterated commutators of any form trivial || there is a finite length such that any iterated [[defining ingredient::commutator]] (with any kind of parenthesization of terms) of length more than that becomes trivial || there is a length <math>c</math> such that any iterated [[defining ingredient::commutator]] that involves at least <math>c</math> commutator operations (so <math>c+1</math> original inputs) takes value the identity element. <toggledisplay>For instance, for <math>c = 3</math>, the expressions <br><math>\! [[x_1,x_2],[x_3,x_4]], [[[x_1,x_2],x_3],x_4]], [x_1,[x_2,[x_3,x_4]]]</math>,<br> <math>[[x_1,[x_2,x_3]],x_4], [x_1,[[x_2,x_3],x_4]</math><br> all take value the identity element.</toggledisplay>
| 6 || iterated commutators of any form trivial || there is a finite length such that any iterated [[defining ingredient::commutator]] (with any kind of parenthesization of terms) of length more than that becomes trivial || there is a length <math>c</math> such that any iterated [[defining ingredient::commutator]] that involves at least <math>c</math> commutator operations (so <math>c+1</math> original inputs) takes value the identity element. <toggledisplay>For instance, for <math>c = 3</math>, the expressions <br><math>\! [[x_1,x_2],[x_3,x_4]], [[[x_1,x_2],x_3],x_4]], [x_1,[x_2,[x_3,x_4]]]</math>,<br> <math>[[x_1,[x_2,x_3]],x_4], [x_1,[[x_2,x_3],x_4]</math><br> all take value the identity element.</toggledisplay>
|-
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| 7 || iterated left-normed commutators trivial (generating set version) || pick a generating set for the group. There is a finite length such that any iterated [[defining ingredient::commutator]] (with any kind of parenthesization of terms) of length more than that becomes trivial || pick a generating set <math>S</math> for <math>G</math>. There is a length <math>c</math> such that any iterated [[defining ingredient::commutator]] that involves at least <math>c</math> commutator operations (so <math>c+1</math> original inputs) and where the inputs are from <math>S</math>, always takes value the identity element. <toggledisplay>For instance, for <math>c = 3</math>, the expressions <br><math>\! [[x_1,x_2],[x_3,x_4]], [[[x_1,x_2],x_3],x_4]], [x_1,[x_2,[x_3,x_4]]]</math>,<br> <math>[[x_1,[x_2,x_3]],x_4], [x_1,[[x_2,x_3],x_4]</math><br> all take value the identity element.</toggledisplay>
| 7 || iterated left-normed commutators trivial (generating set version) || (pick a generating set for the group) there is a finite length such that any iterated left-normed [[defining ingredient::commutator]] of elements from that generating set length more than that becomes trivial || pick a generating set <math>S</math> for <math>G</math>. There is a length <math>c</math> such that any [[defining ingredient::commutator]] of the form <math>[[\dots[[x_1,x_2],x_3],\dots],x_{c+1}]</math> takes value the identity element, where the <math>x_i</math> are (possibly repeated) elements of <math>S</math>.
|-
| 8 || iterated commutators of any form trivial (generating set version) || (pick a generating set for the group) there is a finite length such that any iterated [[defining ingredient::commutator]] (with any kind of parenthesization of terms) of elements from that generating set of length more than that becomes trivial || pick a generating set <math>S</math> for <math>G</math>. There is a length <math>c</math> such that any iterated [[defining ingredient::commutator]] that involves at least <math>c</math> commutator operations (so <math>c+1</math> original inputs) and where the inputs are from <math>S</math>, always takes value the identity element. <toggledisplay>For instance, for <math>c = 3</math>, the expressions <br><math>\! [[x_1,x_2],[x_3,x_4]], [[[x_1,x_2],x_3],x_4]], [x_1,[x_2,[x_3,x_4]]]</math>,<br> <math>[[x_1,[x_2,x_3]],x_4], [x_1,[[x_2,x_3],x_4]</math><br> all take value the identity element.</toggledisplay>
|}
|}


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* The trivial group is nilpotent, of nilpotency class zero.
* The trivial group is nilpotent, of nilpotency class zero.
* Any [[abelian group]] is nilpotent, of nilpotency class one.
* Any [[abelian group]] is nilpotent, of nilpotency class one (note that the nilpotency class is ''exactly'' one for nontrivial abelian groups).
* Any [[group of prime power order]] is nilpotent. {{further|[[prime power order implies nilpotent]]}}. Thus, exploring groups of prime power order is a good starting point for exploring nilpotent groups. See [[groups of order 8]], [[groups of order 16]], [[groups of order 32]], [[groups of order 27]], [[groups of order 81]]. See also [[nilpotency class distribution of finite p-groups]].
* Any [[group of prime power order]] is nilpotent. {{further|[[prime power order implies nilpotent]]}}. Thus, exploring groups of prime power order is a good starting point for exploring nilpotent groups. See [[groups of order 8]], [[groups of order 16]], [[groups of order 32]], [[groups of order 27]], [[groups of order 81]]. See also [[nilpotency class distribution of finite p-groups]].
* The [[dihedral group:D8|dihedral group of order 8]] is the smallest (in terms of order) nilpotent group which is not [[abelian group|abelian]]. It is a [[group of nilpotency class two]].
* The [[dihedral group:D8|dihedral group of order 8]] is the smallest (in terms of order) nilpotent group which is not [[abelian group|abelian]]. It is a [[group of nilpotency class two]].
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! Metaproperty name !! Satisfied? !! Proof !! Statement with symbols
! Metaproperty name !! Satisfied? !! Proof !! Statement with symbols
|-
|-
| [[satisfies metaproperty::quasivarietal group property]] || Yes || [[nilpotency is quasivarietal]] || closed under taking subgroups, quotients, and direct products (see below)
| [[satisfies metaproperty::pseudovarietal group property]] || Yes || [[nilpotency is pseudovarietal]] || Nilpotency is closed under taking subgroups, quotient groups, and finite direct products.
|-
|-
| [[satisfies metaproperty::subgroup-closed group property]] || Yes || [[nilpotency is subgroup-closed]] || If <math>G</math> is nilpotent, and <math>H \le G</math>, then <math>H</math> is nilpotent.
| [[satisfies metaproperty::subgroup-closed group property]] || Yes || [[nilpotency is subgroup-closed]] || If <math>G</math> is nilpotent, and <math>H \le G</math>, then <math>H</math> is nilpotent.
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Conjunctions with other [[group property|group properties]]:
Conjunctions with other [[group property|group properties]]:


* [[Weaker than::Finite nilpotent group]]: Conjunction of being [[finite group|finite]] and nilpotent. Any finite nilpotent group is a direct product of its Sylow subgroups.
{| class="sortable" border="1"
* [[Weaker than::Finitely generated nilpotent group]]
! Conjunction !! Other component of conjunction !! Can it be verified using only the abelianization? !! Alternative possibilities for other component of conjunction that give the same result !! More about the conjunction
* [[Weaker than::Periodic nilpotent group]]
|-
| [[Weaker than::finite nilpotent group]] || [[finite group]]  || Yes || || There are many alternative definitions of finite nilpotent group. The most relevant is that a finite group is nilpotent if and only if it is the [[internal direct product]] of its [[Sylow subgroup]]s.
|-
| [[Weaker than::finitely generated nilpotent group]] || [[finitely generated group]] || Yes || [[finitely presented group]]<br>[[Noetherian group]]|| The key fact is that the property of being finitely generated can be tested knowing the abelianization. This is because any set of coset representatives for a generating set for the abelianization generate the whole group.
|-
| [[Weaker than::periodic nilpotent group]] || [[periodic group]] || Yes || [[locally finite group]] || the abelianization suffices because each of the successive quotients for the lower central series are homomorphic images of tensor powers of the abelianization.
|-
| [[Weaker than::divisible nilpotent group]] (or more generally, [[Weaker than::nilpotent group that is divisible for a set of primes]]) || [[divisible group]] (or more generally, [[divisible group for a set of primes]])||  Yes || ||
|-
| [[Weaker than::rationally powered nilpotent group]] (or more generally, [[Weaker than::nilpotent group that is powered over a set of primes]]) || [[rationally powered group]] (or more generally, [[powered group for a set of primes]]) || In one direction (if the group is powered, so is the abelianization) but not in the other (it is possible for the abelianization to be powered and for the group to not be powered) || || See [[derived subgroup is quotient-powering-invariant in nilpotent group]] and also [[nilpotent group with rationally powered abelianization need not be rationally powered]]
|-
| [[Weaker than::torsion-free nilpotent group]] (or more generally, [[Weaker than::nilpotent group that is torsion-free for a set of primes]]) || [[torsion-free group]] (or more generally, [[torsion-free group for a set of primes]]) || No (neither direction) || || See [[nilpotent group with torsion-free abelianization need not be torsion-free]]<br>[[nilpotent and torsion-free not implies torsion-free abelianization]]
|}


Conjunctions with subgroup properties:
Conjunctions with subgroup properties:
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| [[weaker than::group of nilpotency class two]] || The [[derived subgroup]] is in the [[center]] || || {{strictness examples for group property|nilpotent group|group of nilpotency class two}} || {{intermediate notions short|nilpotent group|group of nilpotency class two}}
| [[weaker than::group of nilpotency class two]] || The [[derived subgroup]] is in the [[center]] || || {{strictness examples for group property|nilpotent group|group of nilpotency class two}} || {{intermediate notions short|nilpotent group|group of nilpotency class two}}
|-
|-
| [[weaker than::Aut-nilpotent group]] || The [[automorphism group]] is a [[nilpotent group]] || [[aut-nilpotent implies nilpotent]] || [[nilpotent not implies aut-nilpotent]] || {{intermediate notions short|nilpotent group|aut-nilpotent group}}
| [[weaker than::group whose automorphism group is nilpotent]] || The [[automorphism group]] is a [[nilpotent group]] || [[nilpotent automorphism group implies nilpotent of class at most one more]] || [[nilpotent not implies nilpotent automorphism group]] || {{intermediate notions short|nilpotent group|aut-nilpotent group}}
|-
|-
| [[weaker than::UL-equivalent group]] || The [[upper central series]] and [[lower central series]] coincide || (by definition) || [[nilpotent not implies UL-equivalent]] {{strictness examples for group property|nilpotent group|UL-equivalent group}} || {{intermediate notions short|nilpotent group|UL-equivalent group}}
| [[weaker than::UL-equivalent group]] || The [[upper central series]] and [[lower central series]] coincide || (by definition) || [[nilpotent not implies UL-equivalent]] {{strictness examples for group property|nilpotent group|UL-equivalent group}} || {{intermediate notions short|nilpotent group|UL-equivalent group}}
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==Testing==
==Testing==
===The testing problem===
{{further|[[fixed-class nilpotency testing problem]]}}


{{GAP command for gp|
{{GAP command for gp|

Latest revision as of 02:11, 27 December 2021

Definition

Equivalent definitions in tabular format

No. Shorthand A group is termed nilpotent if ... A group is termed nilpotent if ...
1 upper central series its upper central series stabilizes after a finite length at the whole group there is a nonnegative integer such that . Here, we define inductively as follows:

is the inverse image of the center under the natural quotient map from to , and is the trivial subgroup.

2 lower central series its lower central series stabilizes after a finite length at the trivial subgroup there is a nonnegative integer such that is trivial where is repeated times. Here, denotes the commutator of two subgroups. In other words, the lower central series of reaches the identity in finitely many steps.
3 central series it possesses a central series there is a nonnegative integer and a chain of subgroups: such that each is a normal subgroup of and is in the center of . In other words, there exists a central series for of length .
4 diagonal subnormal in square the diagonal subgroup is subnormal in the square of the group the subgroup is subnormal in the square with subnormal depth .
5 iterated left-normed commutators trivial there is a finite length such that any iterated left-normed commutator of length more than that becomes trivial there is a length such that any commutator of the form takes value the identity element, where the are (possibly repeated) elements of .
6 iterated commutators of any form trivial there is a finite length such that any iterated commutator (with any kind of parenthesization of terms) of length more than that becomes trivial there is a length such that any iterated commutator that involves at least commutator operations (so original inputs) takes value the identity element. [SHOW MORE]
7 iterated left-normed commutators trivial (generating set version) (pick a generating set for the group) there is a finite length such that any iterated left-normed commutator of elements from that generating set length more than that becomes trivial pick a generating set for . There is a length such that any commutator of the form takes value the identity element, where the are (possibly repeated) elements of .
8 iterated commutators of any form trivial (generating set version) (pick a generating set for the group) there is a finite length such that any iterated commutator (with any kind of parenthesization of terms) of elements from that generating set of length more than that becomes trivial pick a generating set for . There is a length such that any iterated commutator that involves at least commutator operations (so original inputs) and where the inputs are from , always takes value the identity element. [SHOW MORE]

The smallest possible for all definitions is termed the nilpotency class (sometimes written nilpotence class) of . We usually say a group is of nilpotency class if its nilpotency class is less than or equal to .

This definition is presented using a tabular format. |View all pages with definitions in tabular format

Equivalence of definitions

Further information: Equivalence of definitions of nilpotent group, equivalence of definitions of nilpotency class

Examples

VIEW: groups satisfying this property | groups dissatisfying this property
VIEW: Related group property satisfactions | Related group property dissatisfactions


This article is about a standard (though not very rudimentary) definition in group theory. The article text may, however, contain more than just the basic definition
VIEW: Definitions built on this | Facts about this: (facts closely related to Nilpotent group, all facts related to Nilpotent group) |Survey articles about this | Survey articles about definitions built on this
VIEW RELATED: Analogues of this | Variations of this | Opposites of this |
View a complete list of semi-basic definitions on this wiki

This article defines a group property that is pivotal (i.e., important) among existing group properties
View a list of pivotal group properties | View a complete list of group properties [SHOW MORE]

The version of this for finite groups is at: finite nilpotent group

Metaproperties

Metaproperty name Satisfied? Proof Statement with symbols
pseudovarietal group property Yes nilpotency is pseudovarietal Nilpotency is closed under taking subgroups, quotient groups, and finite direct products.
subgroup-closed group property Yes nilpotency is subgroup-closed If is nilpotent, and , then is nilpotent.
quotient-closed group property Yes nilpotency is quotient-closed If is nilpotent, and is a normal subgroup, the quotient group is nilpotent.
finite direct product-closed group property Yes nilpotency is finite direct product-closed If are all nilpotent groups, the external direct product is also nilpotent.
finite normal join-closed group property Yes nilpotency is finite normal join-closed Suppose is a group and are all nilpotent normal subgroups of . Then the join of subgroups (which in this case is also the product of subgroups) is also nilpotent.
extension-closed group property No nilpotency is not extension-closed It is possible to have a non-nilpotent group and a normal subgroup such that both and are nilpotent.
isoclinism-invariant group property Yes isoclinic groups have same nilpotency class If are isoclinic groups, then is nilpotent if and only if is nilpotent. Further, they have the same nilpotency class (except in the case where one of them is trivial and the other is nontrivial abelian).

Relation with other properties

This property is a pivotal (important) member of its property space. Its variations, opposites, and other properties related to it and defined using it are often studied

Conjunction with other properties

Conjunctions with other group properties:

Conjunction Other component of conjunction Can it be verified using only the abelianization? Alternative possibilities for other component of conjunction that give the same result More about the conjunction
finite nilpotent group finite group Yes There are many alternative definitions of finite nilpotent group. The most relevant is that a finite group is nilpotent if and only if it is the internal direct product of its Sylow subgroups.
finitely generated nilpotent group finitely generated group Yes finitely presented group
Noetherian group
The key fact is that the property of being finitely generated can be tested knowing the abelianization. This is because any set of coset representatives for a generating set for the abelianization generate the whole group.
periodic nilpotent group periodic group Yes locally finite group the abelianization suffices because each of the successive quotients for the lower central series are homomorphic images of tensor powers of the abelianization.
divisible nilpotent group (or more generally, nilpotent group that is divisible for a set of primes) divisible group (or more generally, divisible group for a set of primes) Yes
rationally powered nilpotent group (or more generally, nilpotent group that is powered over a set of primes) rationally powered group (or more generally, powered group for a set of primes) In one direction (if the group is powered, so is the abelianization) but not in the other (it is possible for the abelianization to be powered and for the group to not be powered) See derived subgroup is quotient-powering-invariant in nilpotent group and also nilpotent group with rationally powered abelianization need not be rationally powered
torsion-free nilpotent group (or more generally, nilpotent group that is torsion-free for a set of primes) torsion-free group (or more generally, torsion-free group for a set of primes) No (neither direction) See nilpotent group with torsion-free abelianization need not be torsion-free
nilpotent and torsion-free not implies torsion-free abelianization

Conjunctions with subgroup properties:

Stronger properties

Property Meaning Proof of implication Proof of strictness (reverse implication failure) Intermediate notions
abelian group any two elements commute, so class abelian implies nilpotent nilpotent not implies abelian (see also list of examples) |FULL LIST, MORE INFO
cyclic group generated by one element (via abelian) (via abelian) (see also list of examples) Abelian group|FULL LIST, MORE INFO
group of prime power order order is a power of a prime prime power order implies nilpotent (see also list of examples) |FULL LIST, MORE INFO
finite nilpotent group Nilpotent and a finite group (see also list of examples) |FULL LIST, MORE INFO
group of nilpotency class two The derived subgroup is in the center (see also list of examples) |FULL LIST, MORE INFO
group whose automorphism group is nilpotent The automorphism group is a nilpotent group nilpotent automorphism group implies nilpotent of class at most one more nilpotent not implies nilpotent automorphism group |FULL LIST, MORE INFO
UL-equivalent group The upper central series and lower central series coincide (by definition) nilpotent not implies UL-equivalent (see also list of examples) |FULL LIST, MORE INFO

Weaker properties

Property Meaning Proof of implication Proof of strictness (reverse implication failure) Intermediate notions
metanilpotent group has nilpotent normal subgroup with nilpotent quotient (see also list of examples) |FULL LIST, MORE INFO
solvable group derived series reaches the trivial subgroup nilpotent implies solvable solvable not implies nilpotent (see also list of examples) |FULL LIST, MORE INFO
group in which every maximal subgroup is normal every maximal subgroup is a normal subgroup nilpotent implies every maximal subgroup is normal |FULL LIST, MORE INFO
group in which every subgroup is subnormal every subgroup is a subnormal subgroup nilpotent implies every subgroup is subnormal |FULL LIST, MORE INFO
group satisfying normalizer condition no proper self-normalizing subgroup nilpotent implies normalizer condition normalizer condition not implies nilpotent |FULL LIST, MORE INFO
Gruenberg group
hypercentral group transfinite upper central series terminates at whole group |FULL LIST, MORE INFO
hypocentral group transfinite lower central series terminates at trivial subgroup |FULL LIST, MORE INFO
locally nilpotent group every finitely generated subgroup is nilpotent |FULL LIST, MORE INFO
residually nilpotent group for every element, there is a normal subgroup with nilpotent quotient not containing it |FULL LIST, MORE INFO
n-nilpotent group for an integer The n-lower central series, obtained by iteration of the n-commutator operation, reaches the trivial subgroup in finitely many steps.

Testing

The testing problem

Further information: fixed-class nilpotency testing problem

GAP command

This group property can be tested using built-in functionality of Groups, Algorithms, Programming (GAP).
The GAP command for this group property is:IsNilpotentGroup
The class of all groups with this property can be referred to with the built-in command: NilpotentGroups
View GAP-testable group properties

To test whether a given group is nilpotent or not using GAP, enter:

IsNilpotentGroup (group);

where group is either the definition of a group or a name for a group already defined.

The class of all nilpotent groups is specified as NilpotentGroups.

Formalisms

In terms of ascending series

This group property is obtained by applying the ascending series-finite operator to the subgroup-defining function: center

A group is nilpotent if and only if the ascending series corresponding to the center subgroup-defining function (which is the upper central series) terminates at the whole group in finitely many steps.

In terms of the diagonal-in-square operator

This property is obtained by applying the diagonal-in-square operator to the property: subnormal subgroup
View other properties obtained by applying the diagonal-in-square operator

A group is nilpotent if and only if the diagonal subgroup is subnormal in the group . In fact, the nilpotency class of equals the subnormal depth of the diagonal subgroup.

Study of this notion

Mathematical subject classification

Under the Mathematical subject classification, the study of this notion comes under the class: 20F18

While 20F18 is the subject class used for nilpotent groups, the subject class used for finite nilpotent groups in particular is 20D15.

Closely related is 20F19: Generalizations of nilpotent and solvable groups.

References

Textbook references

Book Page number Chapter and section Contextual information View
Abstract Algebra by David S. Dummit and Richard M. Foote, 10-digit ISBN 0471433349, 13-digit ISBN 978-0471433347More info 190 formal definition, along with lower central series and upper central series
Groups and representations by Jonathan Lazare Alperin and Rowen B. Bell, ISBN 0387945261More info 103 definition in paragraph, along with lower central series and upper central series
A Course in the Theory of Groups by Derek J. S. Robinson, ISBN 0387944613More info 122 formal definition, in terms of central series
An Introduction to Abstract Algebra by Derek J. S. Robinson, ISBN 3110175444More info 174 formal definition, in terms of central series
Algebra (Graduate Texts in Mathematics) by Thomas W. Hungerford, ISBN 0387905189More info 100 definition in paragraph
Topics in Algebra by I. N. HersteinMore info 117 definition introduced based on exercises 13-14, that implicitly define lower central series and upper central series, and precedes exercise 15