Rajeev Alur and Thomas A. Henzinger
We introduce a temporal logic for the specification of real-time systems. Our logic, TPTL, employs a novel quantifier construct for referencing time: the "freeze" quantifier binds a variable to the time of the local temporal context. TPTL is both a natural language for specification and a suitable formalism for verification. We present a tableau-based decision procedure and a model-checking algorithm for TPTL. Several generalizations of TPTL are shown to be highly undecidable.
Journal of the ACM 41:181-204, 1994. A preliminary version appeared in the Proceedings of the 30th Annual Symposium on Foundations of Computer Science (FOCS), IEEE Computer Society Press, 1989, pp. 164-169.