This formalism is well-suited for specifying hybrid systems where the dynamics of the continuous variables are defined or can be approximated by giving the minimal and maximal rate of change.
Time can be discrete or dense.
It is based on automata theory and 9 treats real time in a unified fashion through clocks. Two examples of verification of multirate timed automata with Kronos. The algorithmic analysis of hybrid systems - Alur, Courcoubetis et al. Doc 121 Model checking in dense real time - Alur, Courcoubetis et al. The graph only includes citing articles where the year of publication is known.