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- Thread starter Saussy
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I've got two excellent references for you:

- Introduction to Smooth Manifolds by Lee. Fine, this is a differential geometry book, but it has quite a few material on Lee groups and stuff. It won't be comprehensive, but it's certainly worth a look.
- Matrix groups by Baker: you won't need too much differential geometry for this one. Knowing the basic notions is good enough. It also deals a lot with linear algebra and matrices. But it's an excellent reference for Lie groups and Lie algebra's as well!

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