Dilsun Kirli Kaynar Nancy A. Lynch Roberto Segala Frits W. Vaandrager The Theory of Timed I/O Automata http://dx.doi.org/10.2200/S00006ED1V01Y200508CSL001 http://dx.doi.org/10.2200/S00006ED1V01Y200508CSL001 2009 Synthesis Lectures on Computer Science Morgan & Claypool Publishers