Michael Sipser, Introduction to the Theory of Computation, 3rd ed., Cengage, 2013,Ch. 0, concatenation and string operations。
John E. Hopcroft, Rajeev Motwani, and Jeffrey D. Ullman, Introduction to Automata Theory, Languages, and Computation, 3rd ed., Pearson, 2006,Ch. 1, concatenation and free monoids。