Rance Cleaveland Scott A. Smolka Steve Sims An Instrumentation-Based Approach to Controller Model Validation. 84-97 2006 ASWSD http://dx.doi.org/10.1007/978-3-540-70930-5_6 conf/aswsd/2006 db/conf/aswsd/aswsd2006.html#CleavelandSS06