Henzinger, T. A., Kopke, P., Puri, A., &; Varaiya, P. (1998). What’s decidable about hybrid automata? Journal of Computer and System Sciences. Elsevier.https://doi.org/10.1006/jcss.1998.1581 
LibreCat: https://research-explorer.ista.ac.at/record/4492
DOI: 10.1006/jcss.1998.1581