Parsing Techniques: A Practical Guide (2nd Edition)
by Dick Grune, Ceriel J.H. Jacobs · Springer
Comprehensive reference on how grammars are turned into parsers. Covers general CF parsing (CYK, Earley, GLR), deterministic top-down LL and bottom-up LR methods, regular-grammar parsing, error recovery, and non-Chomsky grammar formalisms. Requires no advanced mathematics.
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Free lecture notes from the University of Illinois, about 95 pages across five PDFs. They cover strings and induction, regular expressions, DFAs, NFAs and their equivalence, and context-free grammars. This is the strongest free written text for the formal-languages part of the topic. It is unusually careful with induction on strings, which is where self-learners usually get stuck, and it has plenty of exercises.
brilliant.org
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Formal Languages and Their Relation to Automata
The 1969 monograph that organized formal language theory around the Chomsky hierarchy, pairing regular, context-free, context-sensitive and recursively enumerable languages with finite automata, pushdown automata, linear bounded automata and Turing machines. Proof-based; readers learn the classical closure and decidability results.