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Alur, R., Courcoubetis, C., Henzinger, T.A. and Ho, P. (1993) Hybrid Automata: An Algorithmic Approach to the Specification and Verification of Hybrid Systems. Lecture Notes in Computer Science, 736, 209-229.
http://dx.doi.org/10.1007/3-540-57318-6_30

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