According to John Tan, this is one of the rare books where Madhyamaka is explained from the perspective of experiential insight.

https://www.amazon.com/Karmapas-Middle-Way-Feast-Fortunate/dp/1559394889

• • 
    
  
  
• 
  
John Tan
André A. Pais read the downloaded sample version Feast for the Fortunate and I like it very much, bought the kindle version. Very lucid presentation and unbiased in his commentaries even when involving other schools of thought eg...Gelug. Indeed very fortunate to have commentaries with experiential insights from 9th Karmapa Wangchuk Dorje of Kagyu tradition on madhyamakavatara.