Maxwell knew that you could construct what we now call the gauge field for electromagnetism. He didn't have the idea that matter fields like the electron would also be fields with their own ways of changing under these gauge symmetries, but he knew about gauge invariance. Yang Mills theories are theories with connections with gauge invariance, but in a more complicated way. The symmetry group does not commute with itself, it matters which symmetry, transformation you do first and then second versus second and first.

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