The truth is, while there isn't one single famous book with that exact title, there are several and free open-source resources that are widely available in PDF format that teach exactly what you need.
You can now design filters by placing poles and zeros in the s-plane.
(HKUST): A complete set of lecture notes that covers precalculus, derivatives, and integrals specifically tailored for engineering students. Calculus Derivatives and Limits Reference Sheet
To help you find the best material for your current level, let me know:
The voltage decays exponentially with time constant ( \tau = RC ).