Book Recommendation Wanted

I'm looking for a good book, of the printed paper variety, which goes into detail on motors, their electrical characteristics, torque/speed calculations, driver arrangements, etc, etc. Something that will tell me how to extract the maximum from a stepper and how not to stall it. And the same for DC and BLDC motors, and simple AC motors. Not interested in large motors, hence posting here in 'robotics'.

Why a printed book?

1) All the information in one place - not scattered around a gazillion websites.
2) I can sit curled up on the sofa and read it (ie no pile of printed out websites/app notes)
3) I can sit in bed and read it without disturbing my sleep pattern (ie no electrical gadgets)

Any recommendations?

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