Ian J. Hayes Michael A. Jackson Cliff B. Jones Determining the Specification of a Control System from That of Its Environment. 154-169 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2805&spage=154 2003 conf/fm/2003 FME db/conf/fm/fme2003.html#HayesJJ03