There are lots of ebooks on embedded system. But, i suggest before that learn 8085 microprocessor from author Ramesh Gaonkar and then 8051 microcontroller from author Ayala. They are fairly simple to understand. Once you build enough knowledge, on microcontrollers, go through embedded system ebooks, no specific author. And start making simple applications like toys, mixers etc.
For eg. If wants to design a simple household mixer or grinder. First define output, that a pot with rotating blade powered from 230V AC, with variable speed. SO, for rotation you need a motor, in our case a simple BLDC motor will suffice, power can be rectified into DC from 230V and then for variable speed a speed controller for BLDC motor is required.
This example is available in microchip.com website but i don't know the application note number.