Lecture Notes in Lie Groups
  These lecture notes in Lie Groups are designed for a 1--semester third year or graduate course in mathematics, physics, engineering, chemistry or biology. This landmark theory of the 20th Century mathematics and physics gives a rigorous foundation to modern dynamics, as well as field and gauge theories in physics, engineering and biomechanics. We give both physical and medical examples of Lie groups. The only necessary background for comprehensive reading of these notes are advanced calculus and linear algebra. 
Vladimir G. Ivancevic and Tijana T. Ivancevic
math.DG math-ph math.MP q-bio.QM