“Semantics with Applications: A Formal Introduction” – by Hanne Riis Nielson and Flemming Nielson presents the fundamental ideas behind the major three approaches to operational, denotational and axiomatic semantics. This book also addresses the relationship by formulating and proving the relevant theorems. In addition, it provides several illustrations of the applicability of formal semantics in various field of computer science as a prominent tool.
Course Notes are available at: http://www.daimi.au.dk/~bra8130/Wiley_book/wiley.html