The 2nd edition of LNM 523 is based on the two first authors' mathematical approach of this theory presented in its 1st edition in 1976. To take care of the many developments which have occurred since then, an entire new chapter about the current forefront of research has been added. Except for this new chapter, the basic material and presentation of the first edition was mantained, a few misprints have been corrected. At the end of each chapter the reader will also find notes with further bibliographical information.
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