Counterexample-guided control
T.A. Henzinger, R. Jhala, R. Majumdar, in:, Proceedings of the 30th International Colloquium on Automata, Languages and Programming, Springer, 2003, pp. 886–902.

Discounting the future in systems theory
L. De Alfaro, T.A. Henzinger, R. Majumdar, in:, Proceedings of the 30th International Colloquium on Automata, Languages and Programming, Springer, 2003, pp. 1022–1037.