Werner Damm Guilherme Pinto Stefan Ratschan Guaranteed Termination in the Verification of Ltl Properties of Non-linear Robust Discrete Time Hybrid Systems. 63-86 2007 18 Int. J. Found. Comput. Sci. 1 http://dx.doi.org/10.1142/S0129054107004577 db/journals/ijfcs/ijfcs18.html#DammPR07