There is an excellent set of EPR manuals(Theory and Practical parts) in Evert Duin’s group website at Aubrun University. Click here to see his group website and then choose “EPR Manuals” on the left.
Acknowledgement: this manual was written by Evert Duin with contributions from and examples provided by Wilfred Hagen, Michael K. Johnson, Steven Mansoorabadi, Antonio Pierik and Simon. P. J. Albracht.