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Decisions with Multiple Objectives: Preferences and Value Tradeoffs Paperback – July 1, 1993
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Although the math is a bit advanced, the authors explain step-by-step all the terminology, what makes the theory easily understandable. I have used it as a reference in a course of my M.Sc. in Operations Research and Decisions, but I believe undergraduates can understand it (not without sweating a few drops).
Personally, I believe that Keeney's book "Value Focused thinking" is more intuitive and day-to-day oriented, but the bulk of the theory is presented in this earlier book. So if you like math and economics, you should try this book first.