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In his interviews with Tim Urban from Wait But Why, there's a bit of detail about what he read leading up to his founding of SpaceX. They're all hard science texts – Rocket Propulsion Elements (Sutton), Aerothermodynamics of Gas Turbine and Rocket Propulsion (Oates), Fundamentals of Astrodynamics (Bate). From everything I've heard, he's well-versed in the material in a way that not many CEOs are.