Lie Groups, Lie Algebras, and Representations: An Elementary Introduction

This textbook treats Lie groups, Lie algebras and their representations in an elementary but fully rigorous fashion requiring minimal prerequisites. In particular, the theory of matrix Lie groups and their Lie algebras is developed using only linear algebra, and more motivation and intuition for proofs is provided than in most classic texts on the subject.

In addition to its accessible treatment of the basic theory of Lie groups and Lie algebras, the book is also noteworthy for including:

...