Handbook of Networked and Embedded Control Systems - Hristu-Varsakelis, Dimitrios; Levine, William S.; Hristu-Varsakelis, Dimitrios; Levine, W. S.; Levine, William; Levine, William S.; Alur, Rajeev; Arzen, K. E.; Arzen, Karl-Erik; Baillieul, John; Henzinger, T. A. (Birkhäuser Boston, 2005)