Richard J. Boulton Hanne Gottliebsen Ruth Hardy Tom Kelsey Ursula Martin Design Verification for Control Engineering. 21-35 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2999&spage=21 2004 conf/ifm/2004 IFM db/conf/ifm/ifm2004.html#BoultonGHKM04