Petra Malik Robi Malik David Streader Steve Reeves Modular Synthesis of Discrete Controllers. 25-34 2007 conf/iceccs/2007 ICECCS http://doi.ieeecomputersociety.org/10.1109/ICECCS.2007.31 db/conf/iceccs/iceccs2007.html#MalikMSR07