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Matrix Groups by M. L. Curtis (Paperback, 1984)

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These notes were developed from a course taught at Rice University in the spring of 1976 and again at the University of Hawaii in the spring of 1977. It is assumed that the students know some linear algebra and a little about differentiation of vector-valued functions. The idea is to introduce some students to some of the concepts of Lie group theory - all done at the concrete level of matrix groups.