try "Power Electronics-Converters, Applications, and Design" Ned Mohan, Tore M. Undeland, William P. Robbins (ISBN 0-471-22693-9). It has a good coverage of the topic, including detailed timing analyses of the commutation process, as well as considerations for application with real-world devices.
pardon- I seem to have misunderstood your request. Were you thinking of commutators for Motors? Ithought you were referring to commutation of current in semiconductor circuits.
My modern books on electrical machines (Slemon & Straughen, Fitzgerald Kingsley & Umans) don't cover the subject in any depth.
The best reference I have is "Performance and Design of DC Machines" by Albert E Clayton. Most likely it is only available in a good technical library - the technology is very mature and all the analysis was done many years ago.