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Perturbation Theory, Adiabatic Evolution, and WKB

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Weak static coupling, weak accumulated transitions, slow gapped driving, and short spatial wavelength are four different approximation limits. Their dimensionless controls answer different questions, and each fails at a different boundary. This page derives all four diagnostics, checks them against exact two-level and barrier results, and keeps their errors separate.

Required background. Calculus and Linear Algebra supplies eigenspaces, projections, norms, and series; Ordinary Differential Equations supplies asymptotic expansions and residual checks; Quantum States, Observables, and Measurement supplies state vectors, observables, self-adjoint operators, and domains. Helpful background. Waves, Green Functions, and Geometric Optics supplies local wavelength, eikonal, and turning-point intuition.

Quantum approximation schemes and their controls

Section titled “Quantum approximation schemes and their controls”

We keep ℏ\hbar explicit. The following diagnostics are local or finite-time controls, not universal convergence theorems:

Here λ∈R\lambda\in\mathbb R is a dimensionless bookkeeping coupling; m,nm,n label unperturbed or instantaneous eigenstates; VmnV_{mn} is a matrix element; VIV_I is the interaction-picture perturbation; ss is a dimensionless slow parameter with time scale τ\tau; and p(x)p(x) is the local classical momentum.

MethodRepresentative dimensionless controlWhat is assumed smallCharacteristic failure
Stationary perturbation∣λVmn/(En(0)−Em(0))∣\lvert\lambda V_{mn}/(E_n^{(0)}-E_m^{(0)})\rvertStatic spectral mixingDegeneracy, small denominators, uncontrolled sums
Time-dependent perturbationηTD(t)=∣λ∣ℏ−1∫t0t∥VI(t′)∥dt′\eta_{\rm TD}(t)=\lvert\lambda\rvert\hbar^{-1}\int_{t_0}^{t}\lVert V_I(t')\rVert dt'Accumulated interaction-picture actionLong duration or resonance
Adiabatic evolutionϵmnad=max⁡sℏ∣⟨m∣∂sH∣n⟩∣/(τ∣Em−En∣2)\epsilon_{mn}^{\rm ad}=\max_s\hbar\lvert\langle m\lvert\partial_sH\rvert n\rangle\rvert/(\tau\lvert E_m-E_n\rvert^2)Transitions out of a slowly transported spectral bandClosing gap or insufficient regularity
WKBℏ∣p′∣/∣p∣2\hbar\lvert p'\rvert/\lvert p\rvert^2Variation of local wavelengthTurning point, discontinuity, caustic, or Stokes switching

The value of a dimensionful coupling, time, gap, or wavelength cannot by itself certify an approximation. It must appear in a dimensionless ratio or error bound.

Stationary perturbation compares mixing with gaps

Section titled “Stationary perturbation compares mixing with gaps”

To expose the spectral issue without hiding domain assumptions, first work in a finite-dimensional Hilbert space. Let λ∈R\lambda\in\mathbb R, take H0=H0†H_0=H_0^\dagger and V=V†V=V^\dagger, and choose normalized orthogonal eigenstates ∣n⟩|n\rangle of H0H_0:

H=H0+λV,H0∣n⟩=En(0)∣n⟩,Vmn=⟨m∣V∣n⟩,H=H_0+\lambda V, \qquad H_0|n\rangle=E_n^{(0)}|n\rangle, \qquad V_{mn}=\langle m|V|n\rangle,

and suppose En(0)E_n^{(0)} is isolated and nondegenerate. To second order in λ\lambda,

En=En(0)+λVnn+λ2∑m≠n∣Vmn∣2En(0)−Em(0)+O(λ3),E_n=E_n^{(0)}+\lambda V_{nn} +\lambda^2\sum_{m\ne n} \frac{|V_{mn}|^2}{E_n^{(0)}-E_m^{(0)}}+O(\lambda^3),

while a first-order eigenvector with intermediate normalization is

∣n⟩λ=∣n⟩+λ∑m≠nVmnEn(0)−Em(0)∣m⟩+O(λ2).|n\rangle_\lambda =|n\rangle+\lambda\sum_{m\ne n} \frac{V_{mn}}{E_n^{(0)}-E_m^{(0)}}|m\rangle+O(\lambda^2).

Here intermediate normalization means ⟨n∣n⟩λ=1\langle n|n\rangle_\lambda=1 order by order; it does not impose unit norm beyond first order. In an infinite-dimensional problem these formal formulas also require control of domains, relative boundedness, and the indicated sums.

The pairwise ratios

ϵmnstat=∣λVmnEn(0)−Em(0)∣\epsilon_{mn}^{\rm stat} =\left\lvert \frac{\lambda V_{mn}}{E_n^{(0)}-E_m^{(0)}} \right\rvert

must be small, but pairwise smallness alone need not control an infinite sum or prove convergence. For an exactly degenerate eigenspace, diagonalize the projected perturbation. For a cluster of nearly degenerate levels, let PP be the orthogonal projector onto that cluster and diagonalize the projected full or effective Hamiltonian P(H0+λV)PP(H_0+\lambda V)P, including higher-order corrections induced through states outside PP when their size competes with the small internal gaps.

Take Δ>0\Delta\gt0 and

H=(0λvλv∗Δ).H= \begin{pmatrix} 0&\lambda v\\ \lambda v^*&\Delta \end{pmatrix}.

The lower exact eigenvalue is

E−=Δ−Δ2+4λ2∣v∣22=−λ2∣v∣2Δ+O ⁣(λ4∣v∣4Δ3).\begin{aligned} E_-&=\frac{\Delta-\sqrt{\Delta^2+4\lambda^2|v|^2}}{2}\\ &=-\frac{\lambda^2|v|^2}{\Delta} +O\!\left(\frac{\lambda^4|v|^4}{\Delta^3}\right). \end{aligned}

The expansion is controlled by ϵstat=∣λv∣/Δ\epsilon_{\rm stat}=|\lambda v|/\Delta. Its first-order energy shift vanishes, and the second-order shift has the correct negative sign for mixing with a higher level. As Δ→0\Delta\to0, the perturbative ratio diverges while exact diagonalization gives E±=±∣λv∣E_\pm=\pm|\lambda v|.

Time-dependent perturbation controls accumulated transitions

Section titled “Time-dependent perturbation controls accumulated transitions”

The unitary-dynamics page derives the general change of picture. Here let H0H_0 be time independent, H(t)=H0+λV(t)H(t)=H_0+\lambda V(t), and t≥t0t\ge t_0. If UU is the full propagator, define

U0(t,t0)=e−iH0(t−t0)/ℏ,UI(t,t0)=U0†(t,t0)U(t,t0),U_0(t,t_0)=e^{-iH_0(t-t_0)/\hbar}, \qquad U_I(t,t_0)=U_0^\dagger(t,t_0)U(t,t_0),

and

VI(t)=U0†(t,t0)V(t)U0(t,t0).V_I(t)=U_0^\dagger(t,t_0)V(t)U_0(t,t_0).

Then UI(t0,t0)=IU_I(t_0,t_0)=I and

iℏ ∂tUI(t,t0)=λVI(t)UI(t,t0).i\hbar\,\partial_tU_I(t,t_0) =\lambda V_I(t)U_I(t,t_0).

Starting in the H0H_0 eigenstate ∣n⟩|n\rangle, the first-order amplitude for m≠nm\ne n, with Vmn(t)=⟨m∣V(t)∣n⟩V_{mn}(t)=\langle m|V(t)|n\rangle, is

cm←n(1)(t)=−iλℏ∫t0tdt′ eiωmn(t′−t0)Vmn(t′),ωmn=Em(0)−En(0)ℏ.c_{m\leftarrow n}^{(1)}(t) =-\frac{i\lambda}{\hbar} \int_{t_0}^{t}dt'\, e^{i\omega_{mn}(t'-t_0)}V_{mn}(t'), \qquad \omega_{mn}=\frac{E_m^{(0)}-E_n^{(0)}}{\hbar}.

For bounded VIV_I, with ∥⋅∥\lVert\cdot\rVert denoting the operator norm, a conservative sufficient finite-time control is

ηTD(t)=∣λ∣ℏ∫t0t∥VI(t′)∥ dt′≪1.\eta_{\rm TD}(t) =\frac{|\lambda|}{\hbar} \int_{t_0}^{t}\lVert V_I(t')\rVert\,dt'\ll1.

The Dyson remainder after the first-order term is bounded by eηTD−1−ηTDe^{\eta_{\rm TD}}-1-\eta_{\rm TD}. This norm bound ignores oscillatory cancellation and can be much stronger than necessary, but it makes one danger explicit: a weak interaction can accumulate for a long time.

For example, let ω>0\omega\gt0 and Vmn(t)=vcos⁡[ω(t−t0)]V_{mn}(t)=v\cos[\omega(t-t_0)]. Writing the cosine as two exponentials produces phases at ωmn+ω\omega_{mn}+\omega and ωmn−ω\omega_{mn}-\omega. Near ω=∣ωmn∣\omega=|\omega_{mn}|, one of these phases varies slowly. Over a duration TT, suppose both

∣ω−∣ωmn∣∣T≪1,(ω+∣ωmn∣)T≫1.\bigl|\omega-|\omega_{mn}|\bigr|T\ll1, \qquad (\omega+|\omega_{mn}|)T\gg1.

The first condition keeps the resonant term coherent; the second makes the counter-rotating term small compared with the resonant contribution. Then, while first order remains valid,

∣cm←n(1)∣≃∣λv∣T2ℏ.\left|c_{m\leftarrow n}^{(1)}\right| \simeq\frac{|\lambda v|T}{2\hbar}.

Weakness at one instant does not prevent resonant growth. Near resonance, the displayed first-order result is self-consistent only while ∣λv∣T/(2ℏ)≪1|\lambda v|T/(2\hbar)\ll1; an order-one amplitude calls for resummation or the exact driven two-level dynamics. At very short times with (ω+∣ωmn∣)T≪1(\omega+|\omega_{mn}|)T\ll1, both phases are nearly constant instead, so ∣cm←n(1)∣≃∣λv∣T/ℏ|c_{m\leftarrow n}^{(1)}|\simeq|\lambda v|T/\hbar: the resonant factor of one-half must not be used before the counter-rotating term averages out. Turner derives the interaction-picture Dyson expansion in Turner 2017, Lecture 8, §§8.1–8.2, Eqs. (8.17)–(8.36), printed pp. 42–43.

Adiabatic evolution compares mixing rates with Bohr frequencies

Section titled “Adiabatic evolution compares mixing rates with Bohr frequencies”

Write a slowly driven Hamiltonian as H(s)H(s) with s=t/τ∈[0,1]s=t/\tau\in[0,1]. For a nondegenerate instantaneous eigenstate,

H(s)∣n(s)⟩=En(s)∣n(s)⟩.H(s)|n(s)\rangle=E_n(s)|n(s)\rangle.

Differentiate this equation and project onto m≠nm\ne n:

⟨m∣∂sn⟩=⟨m∣∂sH∣n⟩En−Em.\langle m|\partial_sn\rangle =\frac{\langle m|\partial_sH|n\rangle}{E_n-E_m}.

Comparing the physical mixing rate τ−1∣⟨m∣∂sn⟩∣\tau^{-1}|\langle m|\partial_sn\rangle| with the Bohr frequency ∣Em−En∣/ℏ|E_m-E_n|/\hbar gives

ϵmnad=max⁡sℏ ∣⟨m(s)∣∂sH∣n(s)⟩∣τ ∣Em(s)−En(s)∣2.\epsilon_{mn}^{\rm ad} =\max_s \frac{\hbar\,|\langle m(s)|\partial_sH|n(s)\rangle|} {\tau\,|E_m(s)-E_n(s)|^2}.

When these ratios are small, evolution approximately follows the instantaneous eigenspace. If the system begins in ∣n(0)⟩|n(0)\rangle, the nondegenerate approximation is

∣ψ(t)⟩≃exp⁡ ⁣[−iτℏ∫0sEn(s′) ds′]eiγn(s)∣n(s)⟩,|\psi(t)\rangle\simeq \exp\!\left[-\frac{i\tau}{\hbar}\int_0^s E_n(s')\,ds'\right] e^{i\gamma_n(s)}|n(s)\rangle,

where the first exponential is the dynamical phase and

γn(s)=i∫0s⟨n(s′)∣∂s′n(s′)⟩ ds′\gamma_n(s)=i\int_0^s \langle n(s')|\partial_{s'}n(s')\rangle\,ds'

is the geometric, or Berry, phase in the chosen smooth gauge. For a spectral band, the relevant gap separates that band from its complement; degeneracy internal to an isolated band does not by itself invalidate subspace following.

This local ratio is not a universal sufficient theorem. Jansen, Ruskai, and Seiler assume a common self-adjoint domain, differentiability, and a separated spectral band in Jansen, Ruskai, and Seiler 2007, §II, conditions (i)–(iii), printed pp. 3–4. Their Theorem 3 and Eq. (6), printed pp. 4–5 add the restrictions that the selected band contain finitely many eigenvalues and that HH, ∂sH\partial_sH, and ∂s2H\partial_s^2H be bounded; the resulting bound contains endpoint and integral terms with inverse powers of the minimum gap.

For u∈[−1,1]u\in[-1,1], consider

H(u)=12(vu σz+g σx),H(u)=\frac12\left(vu\,\sigma_z+g\,\sigma_x\right),

where v∈Rv\in\mathbb R, g>0g\gt0, both have units of energy, and physical time is t=τut=\tau u. The complete sweep lasts 2τ2\tau. The gap is v2u2+g2\sqrt{v^2u^2+g^2}. Let ∣+⟩|+\rangle and ∣−⟩|-\rangle denote the instantaneous upper and lower eigenstates at u=0u=0. Then ∣⟨+∣∂uH∣−⟩∣=∣v∣/2|\langle+|\partial_uH|-\rangle|=|v|/2, so

ϵad(0)=ℏ∣v∣2τg2.\epsilon^{\rm ad}(0) =\frac{\hbar|v|}{2\tau g^2}.

For fixed τ\tau (equivalently, fixed total duration 2τ2\tau), this diverges as g→0g\to0. Smooth matrix entries do not rescue the elementary gapped approximation when the relevant gap closes.

WKB controls spatial phase and amplitude variation

Section titled “WKB controls spatial phase and amplitude variation”

Consider the one-dimensional stationary equation with particle mass M>0M\gt0,

−ℏ22Mψ′′+V(x)ψ=Eψ,p(x)=2M[E−V(x)].-\frac{\hbar^2}{2M}\psi''+V(x)\psi=E\psi, \qquad p(x)=\sqrt{2M[E-V(x)]}.

Insert ψ=AeiS/ℏ\psi=Ae^{iS/\hbar}, where A(x)A(x) is a slowly varying amplitude and S(x)S(x) is the phase, or classical action, and organize by powers of ℏ\hbar. In an allowed region where p2>0p^2\gt0, the first two equations are

(S′)2=p2,(A2S′)′=0.(S')^2=p^2, \qquad (A^2S')'=0.

Therefore the two traveling branches are

ψ±(x)≃C±p(x)exp⁡ ⁣[±iℏ∫xp(x′) dx′].\psi_\pm(x) \simeq\frac{C_\pm}{\sqrt{p(x)}} \exp\!\left[ \pm\frac{i}{\hbar}\int^x p(x')\,dx' \right].

The amplitude is fixed by flux transport. For one branch,

j=ℏMIm⁡(ψ±∗ψ±′)=±∣C±∣2M,j=\frac{\hbar}{M}\operatorname{Im}(\psi_\pm^*\psi_\pm') =\pm\frac{|C_\pm|^2}{M},

which is constant to leading order. The intuitive local control is

ϵWKB(x)=ℏ∣p′(x)∣∣p(x)∣2=∣ddxℏp(x)∣≪1.\epsilon_{\rm WKB}(x) =\frac{\hbar\lvert p'(x)\rvert}{\lvert p(x)\rvert^2} =\left\lvert\frac{d}{dx}\frac{\hbar}{p(x)}\right\rvert \ll1.

Direct substitution of the leading branch gives the sharper residual combination

δWKB=∣ℏ2[3(p′)24p4−p′′2p3]∣≪1.\delta_{\rm WKB} =\left\lvert \hbar^2\left[ \frac{3(p')^2}{4p^4}-\frac{p''}{2p^3} \right] \right\rvert\ll1.

In a forbidden region define κ=2M(V−E)/ℏ>0\kappa=\sqrt{2M(V-E)}/\hbar\gt0; the local branches are proportional to κ−1/2e±∫κdx\kappa^{-1/2}e^{\pm\int\kappa dx}.

At a simple turning point p(xi)=0p(x_i)=0, the control ℏ∣p′∣/∣p∣2\hbar\lvert p'\rvert/\lvert p\rvert^2 diverges, so ordinary WKB fails. If V′(xi)≠0V'(x_i)\ne0, linearizing the potential produces a local Airy equation that must be matched to the outer WKB branches. The figure makes this nonuniformity concrete for X=x/aX=x/a, where a>0a\gt0 is the Gaussian barrier’s width scale: inspect the two exact crossings, the allowed and forbidden region signs, and the shaded matching neighborhoods.

In the dimensionless coordinate X equal to x over a, a horizontal energy line crosses a smooth bell-shaped barrier at X minus one and X plus one. The two outer regions are oscillatory and classically allowed, the central region is exponentially forbidden, and narrow shaded bands at both crossings require Airy matching.

In the dimensionless coordinate X=x/aX=x/a, consider the smooth barrier V/V0=e−X2V/V_0=e^{-X^2} at E/V0=e−1E/V_0=e^{-1}. The exact simple turning points are X=−1X=-1 and X=1X=1. Leading WKB is oscillatory where p2>0p^2\gt0 and exponential where p2<0p^2\lt0, but it is nonuniform in the shaded turning-point neighborhoods, where Airy matching is required. Exact regime geometry for the displayed model; neighborhood widths schematic.

Tong develops the semiclassical expansion, local validity test, and Airy matching in Tong 2017, §2.2, printed pp. 37–49.

Let V=V0V=V_0 on 0<x<d0\lt x\lt d, let V=0V=0 outside, and take 0<E<V00\lt E\lt V_0. For this finite step, continuity of ψ\psi and ψ′\psi' at x=0x=0 and x=dx=d fixes the reflection and transmission amplitudes. Direct interface matching gives

Texact=[1+V02sinh⁡2(κd)4E(V0−E)]−1,κ=2M(V0−E)ℏ.T_{\rm exact} =\left[ 1+\frac{V_0^2\sinh^2(\kappa d)}{4E(V_0-E)} \right]^{-1}, \qquad \kappa=\frac{\sqrt{2M(V_0-E)}}{\hbar}.

For κd≫1\kappa d\gg1,

Texact≃16E(V0−E)V02e−2κd.T_{\rm exact} \simeq \frac{16E(V_0-E)}{V_0^2}e^{-2\kappa d}.

The WKB action reproduces the decisive exponent e−2∫0dκdx=e−2κde^{-2\int_0^d\kappa dx}=e^{-2\kappa d}, but not the sharp-interface prefactor. The barrier edges are discontinuous interfaces, not smooth simple turning points, so they require direct matching rather than an Airy patch. Tong obtains the exact coefficient and thick-barrier limit in Tong, Quantum Mechanics, undated, §2.4.2, printed pp. 60–62. Tong places the interfaces at x=±aTx=\pm a_{\rm T}, so the width used here is d=2aTd=2a_{\rm T}; his e−4κaTe^{-4\kappa a_{\rm T}} is therefore the same exponent.

Calling a dimensionful number small. A coupling or derivative becomes a control only after comparison with the relevant gap, time, norm, or wavelength scale.

Confusing weak with short-lived. A weak resonant perturbation can produce an order-one transition after a sufficiently long time.

Confusing slow with gapped. Smooth slow driving can still violate a simple adiabatic approximation when the band gap closes.

Continuing WKB through a turning point. The outer expansion is nonuniform there. A local matching problem, and sometimes global Stokes data, is required.

For a self-adjoint stationary mode problem, spectral perturbation can control weak changes when the relevant eigenvalue remains isolated. For a high-frequency field on a slowly varying geometry, covariant geometric optics is governed by wavelength-to-background-scale ratios and the field equation’s principal symbol; it is not literally the one-dimensional Schrödinger WKB formula.

Likewise, gapped self-adjoint adiabatic theorems do not directly govern outgoing black-hole resonances or quasinormal modes. Non-self-adjoint spectral problems can require left and right modes, pole perturbation, and separate control of boundary conditions. Weak coupling, slow evolution, and short wavelength must therefore be checked independently.

Continue with Density Operators, Entanglement, and Reduced States.

For each situation below, identify the approximation and write the dimensionless diagnostic that must be checked:

  1. A static level nn is weakly mixed with a level mm separated by Δmn=∣Em(0)−En(0)∣\Delta_{mn}=|E_m^{(0)}-E_n^{(0)}|.
  2. A bounded interaction-picture perturbation satisfies ∥VI(t)∥≤V∗\lVert V_I(t)\rVert\le V_* for a duration TT.
  3. A band is driven along s∈[0,1]s\in[0,1] in time τ\tau, with minimum exterior gap gmin⁡g_{\min} and max⁡s∣⟨m∣∂sH∣n⟩∣≤Mmn\max_s|\langle m|\partial_sH|n\rangle|\le M_{mn}.
  4. A stationary wave has real local momentum p(x)p(x) away from isolated zeros.

State one failure boundary that the diagnostic alone cannot cross.

Solution
  1. Stationary perturbation uses ϵmnstat=∣λVmn∣/Δmn\epsilon_{mn}^{\rm stat}=|\lambda V_{mn}|/\Delta_{mn}. Degeneracy or a sufficiently small denominator requires diagonalization in the affected subspace; in infinite dimension, one must also control the sum and domains.
  2. Time-dependent perturbation has the sufficient bound ηTD≤∣λ∣V∗T/ℏ\eta_{\rm TD}\le |\lambda|V_*T/\hbar. Near a resonant matrix element, the explicit first-order amplitude must also remain small, for example ∣λv∣T/(2ℏ)≪1|\lambda v|T/(2\hbar)\ll1 in the cosine drive above. Reaching order one calls for resummation or exact driven dynamics rather than a first-order truncation.
  3. The elementary adiabatic ratio obeys ϵmnad≤ℏMmn/(τgmin⁡2)\epsilon_{mn}^{\rm ad}\le\hbar M_{mn}/(\tau g_{\min}^2). A closing gap invalidates this estimate, and a theorem additionally needs its stated differentiability, domain, and spectral hypotheses.
  4. WKB requires at least ϵWKB=ℏ∣p′∣/∣p∣2≪1\epsilon_{\rm WKB}=\hbar|p'|/|p|^2\ll1, together with control of the residual involving p′′p''. It fails at a turning point p=0p=0 and needs a separate local matching problem there.

WKB flux on both sides of a turning region

Section titled “WKB flux on both sides of a turning region”

For an allowed-region branch ψ+=Cp−1/2ei∫p(x′) dx′/ℏ\psi_+=C p^{-1/2}e^{i\int p(x')\,dx'/\hbar}, calculate the probability current through leading order. Then show that a pure real decaying branch Dκ−1/2e−∫κdxD\kappa^{-1/2}e^{-\int\kappa dx} in a forbidden region carries zero current. Explain why this does not say that every superposition of growing and decaying branches has zero current.

Solution

Differentiating the allowed branch gives

ψ+′=(−p′2p+ipℏ)ψ+.\psi_+'= \left(-\frac{p'}{2p}+\frac{ip}{\hbar}\right)\psi_+.

The amplitude-derivative term is real in ψ+∗ψ+′\psi_+^*\psi_+', so

j=ℏMIm⁡(ψ+∗ψ+′)=ℏM∣C∣2ppℏ=∣C∣2M.j=\frac{\hbar}{M}\operatorname{Im}(\psi_+^*\psi_+') =\frac{\hbar}{M}\frac{|C|^2}{p}\frac{p}{\hbar} =\frac{|C|^2}{M}.

For the pure decaying forbidden branch with a constant overall phase, ψ∗ψ′\psi^*\psi' is real, hence j=0j=0. A linear combination of growing and decaying branches can have a relative complex phase; its cross term can then carry nonzero current. Barrier transmission is determined only after the global boundary and matching conditions select that combination.

  • Jansen, Sabine, Mary-Beth Ruskai, and Ruedi Seiler. “Bounds for the Adiabatic Approximation with Applications to Quantum Computation.” Journal of Mathematical Physics 48 (2007): 102111. doi:10.1063/1.2798382. Open PDF.
  • Tong, David. Quantum Mechanics, §2.4.2, printed pp. 60–62. Cambridge lecture notes, undated; official PDF inspected August 30, 2026. Official PDF.
  • Tong, David. Topics in Quantum Mechanics, §2.2, printed pp. 37–49. Cambridge lecture notes, 2017. Official PDF.
  • Turner, Andrew. Quantum Theory I, Lecture 8, prepared for instructor Senthil Todadri, MIT 8.321, Fall 2017, printed pp. 42–43. MIT OpenCourseWare PDF.