I believe there's a 1990 edition where, presumably, Held takes account of the relations between poststructuralism (and its iterations) and critical theory. But I'd say that this edition (1980) may be stronger for not having this material in it, as it becomes all the more astonishing how much poststructuralism--including its feminist versions--owes to critical theory. There are differences, of course (see Held's (approving?) account of Marcuse on mastering 'nature'); but the differences are not of the nature of a radical break. Apart from being a reference, the book's value may lie in its preventing students of theory--me, for instance--from thinking that because Derrida et al. surprised us, that they emerged ex nihilo rather than from an already thriving intellectual tradition. In our arrogance, I think we too often mistake our own astonishment, and the astonishment of an uneducated press, for the astonishment of intellectuals who may not have been astonished at all.
The book's final third is on Habermas. After seeing that we were about the enter into a discussion of unrestricted rational discussions in the public sphere, I skipped it, since Habermas's unreconstructed humanism is of no value to my work on animals. So I can't rightly be said to have finished this book.