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I'll be teaching a standard undergraduate class on languages and automata next semester, and would prefer to use a legitimate free or low-cost text. Any suggestions?

I love the Sipser text but the latest edition costs $196, which is hard to say with a straight face in the age of free courses.

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Maheshwari and Smid's Introduction to Theory of Computation is free, with a Creative Commons license. It has some computability and complexity theory as well but seems to be primarily on languages and automata.

David Eppstein
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Models of Computation — Exploring the Power of Computing by John E. Savage (Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 United States license).

Pål GD
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There are class notes online. For example... http://valis.cs.uiuc.edu/~sariel/teach/notes/373/

Sariel Har-Peled
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I totally recommend the draft of a book Mathematical Foundations of Automata Theory by Jean-Eric Pin. Also, you should check his home page for more automata related stuff. Note however that this books is oriented to semigroup-theory, so it depends on what you want to teach to your students.

Marcos Villagra
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