Chapter 6 of Ermann and Wildon’s Lie Algebra Book covers Lie’s and Engel’s Theorems.
Berkeley’s deep rl course covers soft optimality and various connections with different rl algorithms in this lecture.
Erdmann and Wildon’s Introduction to Lie Algebras covers eigenvalues, weights, and the Invariance Lemma.
This lecture of Berkeley’s deep rl course covers more advanced techniques in advanced model learning (especially when it comes to applying this to more realistic cases).
Rudin’s RC Analysis covers Fourier transforms in chapter 9.