Rajeev Alur Radu Grosu Yerang Hur Vijay Kumar Insup Lee Modular Specification of Hybrid Systems in CHARON. 6-19 http://link.springer.de/link/service/series/0558/bibs/1790/17900006.htm 2000 conf/hybrid/2000 HSCC db/conf/hybrid/hscc2000.html#AlurGHKL00