http://www.cs.vu.nl/~dick/PT2Ed.html

From the site:

This is the new 662-page edition of Parsing Techniques - A Practical Guide. Like its predecessor, it treats parsing in its own right, in greater depth than is found in most computer science and linguistics books. It offers a clear, accessible, and thorough discussion of many different parsing techniques with their interrelations and applicabilities, including error recovery techniques. Unlike most books, it treats (almost) all parsing methods, not just the popular ones.

No advanced mathematical knowledge is required; the book is based on an intuitive and engineering-like understanding of the processes involved in parsing, rather than on the set manipulations used in practice.