Lie groups and algebras with applications to physics, geometry, and mechanics  
Sattinger, David H. 
 - New York :  Springer-Verlag,  1986 
 - ix, 215 p. :  ill. ;  25 cm. 
<br/><br/> Includes index. 
<br/><br/><label>ISBN: </label>0387962409 :