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These notes form the contents of a Nachdiplomvorlesung given at the Forschungs- institut fur Mathematik of the Eidgenossische Technische Hochschule, Zurich from November, 1984 to February, 1985. Prof. K. Chandrasekharan and Prof. Jurgen Moser have encouraged me to write them up for inclusion in the series, published by Birkhiiuser, of notes of these courses at the ETH. Dr. Albert Stadler produced detailed notes of the first part of this course, and very intelligible class-room notes of the rest. Without this work of Dr. Stadler, these notes would not have been written. While I have changed...

The original edition of this book has been out of print for some years. The appear- ance of the present second edition owes much to the initiative of Yves Nievergelt at Eastern Washington University, and the support of Ann Kostant, Mathematics Editor at Birkhauser. Since the book was first published, several people have remarked on the absence of exercises and expressed the opinion that the book would have been more useful had exercises been included. In 1997, Yves Nievergelt informed me that, for a decade, he had regularly taught a course at Eastern Washington based on the book, and that he...

The original edition of this book has been out of print for some years. The appear ance of the present second edition owes much to the initiative of Yves Nievergelt at Eastern Washington University, and the support of Ann Kostant, Mathematics Editor at Birkhauser. Since the book was first published, several people have remarked on the absence of exercises and expressed the opinion that the book would have been more useful had exercises been included. In 1997, Yves Nievergelt informed me that, for a decade, he had regularly taught a course at Eastern Washington based on the book, and that he...