@article{Kup15,
    author      =   "O. Kupferman",
    title       =   "Automata Theory and Model Checking", 
    publisher   =   springer,
    year        =   2015,
    journal     =   "Handbook of {T}heoretical {C}omputer {S}cience",
    editor      =   "E.M. Clarke and T. A. Henzinger and H. Veith",
    chapter     =   7
}