A most insightful and didactic book from my friend Gernot
See also our CISM book and course notes (2014).
https://books.google.fr/books?id=l5lyBgAAQBAJ&pg=PP2&lpg=PP2&dq=cism+course+notes+beer+bordas&source=bl&ots=TuR2VqntOy&sig=ILltJiJ4URRknxuqvpT2B383gIo&hl=de&sa=X&ved=0CDAQ6AEwA2oVChMIqsGqhOHayAIVxrQaCh0gqQOV#v=onepage&q=cism%20course%20notes%20beer%20bordas&f=false
http://media.cism.it/courses%2FC1301%2FBeer-Bordas_finale_.pdf
Stéphane Bordas