Derivation and Formal Verification of a Mode Logic for Layered Control Systems Publication Type: Conference Proceedings Authors: Yuliya Prokhorova; Linas Laibinis; Elena Troubitsyna; Kimmo Varpaaniemi; Timo Latvala Source: Proceedings of the 18th Asia-Pacific Software Engineering Conference, APSEC 2011, IEEE, p.49-56 (2011)