Jos C. M. Baeten Ana Sokolova Luca Aceto, Anna Ingólfsdóttir, Kim Guldstrand Larsen and Jiri Srba, Reactive Systems: Modelling, Specification and Verification , Cambridge University Press (2007) ISBN 9780521875462. 52 2008 78 J. Log. Algebr. Program. 1 http://dx.doi.org/10.1016/j.jlap.2008.04.001 db/journals/jlp/jlp78.html#BaetenS08