imperative programming is not very interesting from a programming language theory point of view.
I'm afraid I disagree, the opposite is the case. Modern PL theory is mostly about program correctness, and that is much easier for pure functional languages. Until recently, nobody had a handle on program logics for imperative languages, or reasoning techniques for operational semantics. The only available reasoning techniques used to be based on denotational semantics, following Scott's breakthrough domain-theoretic semantics of lambda-calculus. That's why so much theory was developed in a functional programming context, because FP is in some ways much simpler than imperative or concurrent programming (even though compiling FP languages is harder). The available textbooks reflect this state of afairs.All that has changed in the last decade or so, but it will take another decade or so before recent research insights into non-functional languages perlocates down to accessible textbooks.