Theory of Trotter error with commutator scaling

Cited from Hamiltonian simulation for Theorem 11 and Corollary 12. For anti-Hermitian summands, the number of steps of a pth-order product formula scales with the nested-commutator quantity to the power 1/p, with time to the power 1 plus 1/p, and with the error to the power minus 1/p. The authors say they did not evaluate the constant prefactor of Theorem 11. Also cited from the atomic-orbital digest, which uses this commutator bound as Günther and Harrow do.