Giuseppe Della Penna, Daniele Magazzeni, Alberto Tofani, Benedetto Intrigila, Igor Melatti, and Enrico Tronci. "Automated Generation Of Optimal Controllers Through Model Checking Techniques." In _Informatics in Control Automation and Robotics. Selected Papers from ICINCO 2006_, 107–119. Springer, 2008. DOI: 10.1007/978-3-540-79142-3_10.