Rajeev Alur, Thomas A. Henzinger, and Howard Wong-Toi
A hybrid system is a dynamical system whose behavior exhibits both discrete and continuous change. A hybrid automaton is a mathematical model for hybrid systems, which combines, in a single formalism, automaton transitions for capturing discrete change with differential equations for capturing continuous change. In this survey, we demonstrate symbolic algorithms for the verification and controller synthesis of linear hybrid automata, a subclass of hybrid automata that can be analyzed automatically.
Proceedings of the 36th Annual Conference on Decision and Control (CDC), IEEE Press, 1997, pp. 702-707.