Fred Kroger & Stephan Merz 
Temporal Logic and State Systems [PDF ebook] 

Temporal logic has developed over the last 30 years into a powerful formal setting for the specification and verification of state-based systems. Based on university lectures given by the authors, this book is a comprehensive, concise, uniform, up-to-date presentation of the theory and applications of linear and branching time temporal logic; TLA (Temporal Logic of Actions); automata theoretical connections; model checking; and related theories. All theoretical details and numerous application examples are elaborated carefully and with full formal rigor, and the book will serve as a basic source and reference for lecturers, graduate students and researchers.