Zohar Manna & Amir Pnueli 
Temporal Logic of Reactive and Concurrent Systems [PDF ebook] 
Specification

Reactive systems are computing systems which are interactive, such as real-time systems, operating systems, concurrent systems, control systems, etc. They are among the most difficult computing systems to program. Temporal logic is a formal tool/language which yields excellent results in specifying reactive systems. This volume, the first of two, subtitled Specification, has a self-contained introduction to temporal logic and, more important, an introduction to the computational model for reactive programs, developed by Zohar Manna and Amir Pnueli of Stanford University and the Weizmann Institute of Science, Israel, respectively.