Mardavij Roozbehani Alexandre Megretski Emilio Frazzoli Eric Feron Distributed Lyapunov Functions in Analysis of Graph Models of Software. 443-456 2008 HSCC http://dx.doi.org/10.1007/978-3-540-78929-1_32 conf/hybrid/2008 db/conf/hybrid/hscc2008.html#RoozbehaniMFF08