A good "gentle introduction" book is the Love book (440 pages): http://www.amazon.com/Linux-Kernel-Development-Robert-Love/d...
Also, it's not kernel-specific, but this book covers a lot of system programming concepts (expensive though):
http://www.amazon.co.uk/Linux-Programming-Interface-System-H...
A good "gentle introduction" book is the Love book (440 pages): http://www.amazon.com/Linux-Kernel-Development-Robert-Love/d...