Formal verification: Principles of model checking (Baier, Katoen) It covers the basics of modeling and verifying concurrent systems against linear-time and br

Formal verification: Principles of model checking (Baier, Katoen) It covers the basics of modeling and verifying concurrent systems against linear-time and branching-time properties. It also mentions timed automata, but those more interested in verifying real-time systems should probably check out another good introductory textbook: Reactive Systems (Aceto, Ingólfsdóttir, Larsen, Srba)