Synchronous Programming of Reactive Systems, Halbwachs<p>Synchronous Languages for Hardware and Software Reactive Systems, Berry<p>Designing Embedded Systems with the SIGNAL Programming Language, Gamatié<p>The Synchronous Languages 12 Years Later 
(<a href="http:&#x2F;&#x2F;www-verimag.imag.fr&#x2F;~halbwach&#x2F;PS&#x2F;iee03.pdf" rel="nofollow">http:&#x2F;&#x2F;www-verimag.imag.fr&#x2F;~halbwach&#x2F;PS&#x2F;iee03.pdf</a>)<p>There are some resources at Verimag (<a href="http:&#x2F;&#x2F;www-verimag.imag.fr&#x2F;Tempo,32.html?lang=en" rel="nofollow">http:&#x2F;&#x2F;www-verimag.imag.fr&#x2F;Tempo,32.html?lang=en</a>) and the Esterel website (<a href="https:&#x2F;&#x2F;www-sop.inria.fr&#x2F;meije&#x2F;esterel&#x2F;esterel-eng.html" rel="nofollow">https:&#x2F;&#x2F;www-sop.inria.fr&#x2F;meije&#x2F;esterel&#x2F;esterel-eng.html</a>). You can search the HAL database too (hal.inria.fr) and maybe have a look at SCADE (<a href="http:&#x2F;&#x2F;www.esterel-technologies.com&#x2F;products&#x2F;scade-suite&#x2F;" rel="nofollow">http:&#x2F;&#x2F;www.esterel-technologies.com&#x2F;products&#x2F;scade-suite&#x2F;</a>).