In [1], the problem of simulating a Hamiltonian using repeated applications of a different set of Hamiltonians is discussed.
In particular, let $A$ and $B$ be a pair of Hermitian operators, and let $\mathcal L$ be the algebra generated from $A, B$ through repeated commutation $^{\mathbf{(\dagger)}}$.
The author then asks (first paragraph of third page) what is $\mathcal L$ for an arbitrary pair of observables $A$ and $B$, and argues that $\mathcal L$ is the space of all Hermitian matrices, unless (quoting from the paper) both $e^{iA t}$ and $e^{iB t}$ lie in an $n$-dimensional unitary representation of some Lie group other than $U(n)$.
I'm not too familiar with the theory of Lie algebras, so this statement is quite cryptic for me. How can this be shown more explicitly? Equivalently, is there a more direct way to show this fact?
$(\dagger)$: More explicitly, this is the vector space spanned by $A, B, i[A,B], [A,[A,B]], ...$
[1] Lloyd 1995, Almost Any Quantum Logic Gate is Universal, Link to PRL.