I raised this at the seminar today as Iain was discussing self defence law. This book is recommended by Jamie Clubb, which is how I found out about it.
It's a short book - just over 100 pages and explains the history leading to the current state of English self defence laws. Published in 2006, so fairly up to date. Certainly relevent. It gives the exact legal terminology but follows that up with a summary in everyday language. Case examples are used.