Now available (May 2007) from
World Scientific Press .
Here are previous versions.
To link to the latest version (as HTML), you can use this URL: http://crca.ucsd.edu/~msp/techniques/latest/book-html/ To refer to a specific version, for example to make a citation, you should include the version number as in http://www.crca.ucsd.edu/~msp/techniques/v0.02/book-html/, so that the material you link to won't change as updates come out.
The current on-line version is "v0.11".