Correction: chapter 4 is in the printed book. On the web site, it's found at http://policyrouting.org/iproute2-toc.html. The links from the other chapters of the web site don't work but browsing the ToC of the book, it looks like this link on the web site has all the info from the book plus a bit more...
http://policyrouting.org/PolicyRoutingBook/ONLINE/TOC.html but chapter 4 which introduces/explains how to use the ip command never got written!