Dominik Schmitz Ming Zhang Thomas Rose Matthias Jarke Andreas Polzer Jacob Palczynski Stefan Kowalewski Michael Reke Mapping Requirement Models to Mathematical Models in Control System Development. 253-264 2009 ECMDA-FA http://dx.doi.org/10.1007/978-3-642-02674-4_18 conf/ecmdafa/2009 db/conf/ecmdafa/ecmdafa2009.html#SchmitzZRJPPKR09