Yang-Mills Theory Explained: SU(N) Symmetry & Gauge Theory

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What exactly is a Yang-Mills Theory? Is it a general theory, based on SU(N) symmetry, which can then be applied for particular cases (ElectroWeak, Chromodynamics) ? Is it like a general mathematical model of gauge theory ?
 
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Not necessarily SU(N). It can also be like SO(N), Sp(N), etc. The idea is we need to introduce gauge fields to keep the theory gauge invariant.