I have created AWS EKS cluster since I have created using my AWS userID has been added to system:masters group. But when checked ConfigMap aws-auth I don't see my user ID. Why ?
I had to give access to another user, so I have to assign appropriate AWS policies to the IAM user, then I edited the ConfigMap aws-auth with the following mapping 
mapUsers:
----
- userarn: arn:aws:iam::573504862059:user/abc-user  
  username: abc-user
  groups:
    - system:masters
So far I have understood when a user is part of system:masters group, this user has admin privileges on the cluster.
How can I add a new user who will have restricted privileges to a specific namespace? Do I have to do the same thing what I have done for the above user? If so then what group I should add the new user to?
I would familiarize with Kubernetes RBAC concepts
So you can create a Role since these are limited to a specific namespace.
kind: Role
apiVersion: rbac.authorization.k8s.io/v1
metadata:
  namespace: my-namespace
  name: full-namespace
rules:
- apiGroups: ["*"] 
  resources: ["*"]
  verbs: ["*"]
Then create a RoleBinding:
$ kubectl create rolebinding my-namespace-binding --role=full-namespace --group=namespacegroup --namespace=my-namespace
Or kubectl create -f this:
apiVersion: rbac.authorization.k8s.io/v1
kind: RoleBinding
metadata:
  name: my-namespace-binding
  namespace: mynamespace
roleRef:
  apiGroup: rbac.authorization.k8s.io
  kind: Role
  name: full-namespace
subjects:
- apiGroup: rbac.authorization.k8s.io
  kind: Group
  name: namespacegroup
Then on your ConfigMap:
mapUsers:
----
- userarn: arn:aws:iam::573504862059:user/abc-user  
  username: abc-user
  groups:
    - namespacegroup
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