This book provides a great introduction to understanding how grids work, both in theory, and in practice. Written by Josef Muller-Brockmann, an authority on the subject, Grid Systems will give you a solid understanding of the fundamentals of page layout.
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Pro Very in-depth guide to grid theory
This book delves into the history of grids, the best methods for fully utilizing grids, and provides plenty of examples for a better understanding.
Examples are fairly outdated, with frequent mentions of technologies that are no longer used (such as photo typesetting).