On extensions of representations for compact Lie groups

Let $H$ be a closed normal subgroup of a compact Lie group $G$ such that $G/H$ is connected. This paper provides a necessary and sufficient condition for every complex representation of $H$ to be extendible to $G$, and also for every complex $G$-vector bundle over the homogeneous space $G/H$ to be trivial. In particular, we show that the condition holds when the fundamental group of $G/H$ is torsion free.