Jinfeng Huang Jeroen Voeten Henk Corporaal Correctness-preserving synthesis for real-time control software. 65-73 2006 conf/qsic/2006 QSIC http://doi.ieeecomputersociety.org/10.1109/QSIC.2006.21 db/conf/qsic/qsic2006.html#HuangVC06