This is a set of lecture notes compiled for a third-year computer science course at the University of Nottingham. At a quick glance they seem surprisingly crisp and readable despite being hand-written and rather succinct. Probably a more thorough text on the matter is "Semantics with Applications: A Formal Introduction" [1]. Does anyone have any other recommendations?

[1] http://www.dis.uniroma1.it/~degiacom/CogRobCourse01/NielsonN...