Maybe if we know what you need to do we might be able to send you in the right direction. Saying you want to learn the topics you mention and also not wanting to be too mathematical seems contradictory to me. Math and physics are the languages of motion control. No way to get around that.
Some is common sense, for instance it takes more power to move something heavy than it does to move something light (for the same motion).
If you are unsure of your math capabilities it might be best to concentrate on one area of interest first and get that worked out in your head before attacking the entire field of motion control at once.
Do you have a particular project or problem you need to work on? Are you in industry or in school? Do you have a deadline or can you work at your own pace?