I personally found Andrew Ng's videos on Reinforcement Learning from cs229@stanford + inverted pole balancing programming assignment to be great intro's on the topic.
Also see Algorithms for Reinforcement Learning: http://www.ualberta.ca/~szepesva/RLBook.html
David Silver's Reinforcement Learning Course teaches from Sutton & Barto's book.
Improved algorithms have been devised since it was written, see
http://karpathy.github.io/2016/05/31/rl/
and, in particular,
https://arxiv.org/abs/1502.05477