Notes on "A Philosophy of Software Design." (book by John Ousterhout, creator of Tcl)

There's a more recent book by Fred Brooks: The Design of Design

and Ousterhout mentions a paper by Parnas in one of his talks: On the criteria to be used in decomposing systems into modules

Dijkstra has a good book on design, Notes on Structured Programming, the book is free and available at the EWD Archives, and someone wrote some good notes on it:

At the heart of “Notes on Structured Programming” lies Dijkstra’s advocacy of a particular approach to a program’s layered structure: “Each program layer is to be understood all by itself, under the assumption of a suitable machine to execute it, while the function of each layer is to simulate the machine that is assumed to be available on the level immediately above it.”