Tyler, Norman and Robert Ward (2011) Planning and Community Development: A Guide for the 21st Century. New York, NY: WW Norton and Company.
This would make a good text for a course on sustainable development or urban planning. It provides a historical and current perspective on planning including comprehensive plans, urban planning, housing, historic preservation, economic development, transportation planning, environmental planning and rural/transitional planning. The appendix is a simulation you can use for training purposes.