Model checking in pattern based control systems designVain, Jüri; Ernits, Juhan-Peep15th Triennial World Congress of the International Federation of Automatic Control : Barcelona, Spain, 21th-26th July, 2002 : final program, book of abstracts2002 / p. 112 https://www.sciencedirect.com/science/article/pii/S1474667015393666