Student Mathematical Library: Matrix Groups for Undergraduates by Kristopher Tapp (2016, Trade Paperback)
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ISBN-13: 9781470427221, 978-1470427221. This textbook brings them into the undergraduate curriculum. The story begins and ends with the rotations of a globe. In between, the author combines rigor and intuition to describe the basic objects of Lie theory: Lie algebras, matrix exponentiation, Lie brackets, maximal tori, homogeneous spaces, and roots.