APA (7th ed.) Citation

Allworth, S. T., & Zobel, R. N. (1987). Introduction to real-time software design (2nd ed.). Springer-Verlag.

Chicago Style (17th ed.) Citation

Allworth, S. T., and R. N. Zobel. Introduction to Real-time Software Design. 2nd ed. New York: Springer-Verlag, 1987.

MLA (9th ed.) Citation

Allworth, S. T., and R. N. Zobel. Introduction to Real-time Software Design. 2nd ed. Springer-Verlag, 1987.