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"Modern Optical Engineering", by Warren J. Smith (McGraw-Hill Education) gives a nice introduction on lens design and optics in general (with a lot of examples of lenses).
A more theoretical approach is in "Fundamental Optical Design", SPIE Press Monograph, by Michael J. Kidger, and "Intermediate Optical Design" from same author.
There is also a lot of information in the manual of the OSLO lens design program (cfr the free version: **broken link removed**)
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