How to model and prove hybrid systems with KeYmaera: A tutorial on safety

@ARTICLE{DBLP:journals/sttt/QueselMLAP16,
	pdf = {https://link.springer.com/content/pdf/10.1007/s10009-015-0367-0.pdf},

  author    = {Jan-David Quesel and
               Stefan Mitsch and
               Sarah Loos and
               Nikos Ar{\'e}chiga and
               Andr{\'e} Platzer},
  title     = {How to Model and Prove Hybrid Systems
               with {KeYmaera}:
               A Tutorial on Safety},
  journal   = {STTT},
  year      = {2016},
  volume    = {18},
  number    = {1},
  pages     = {67-91},
  doi       = {10.1007/s10009-015-0367-0},
}```