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D. Famularo, Franzè, G., Furfaro, A., and Mattei, M., A Hybrid Real-Time Command Governor Supervisory Scheme for Constrained Control Systems, IEEE Transactions on Control Systems Technology, vol. 23, no. 3, pp. 924 - 936, 2015.
A. Furfaro and Nigro, L., Model checking hierarchical communicating real-time state machines, in Emerging Technologies and Factory Automation, 2005. ETFA 2005. 10th IEEE Conference on, 2005, vol. 1, p. 6 pp.-370.