@inproceedings{zamani2016scheduling,
   title={Scheduling of controllers\’ update-rates for residual bandwidth utilization},
   author={Zamani, Majid and Dey, Soumyajit and Mohamed, Sajid and Dasgupta, Pallab and Mazo, Manuel},
   booktitle={International Conference on Formal Modeling and Analysis of Timed Systems (FORMATS)},
   pages={85--101},
   year={2016},
   organization={Springer}
}