Temporal logic has developed over the last 30 years into a powerful formal setting for the specification and verification of state-based systems. Based on university lectures given by the authors, this book is a comprehensive, concise, uniform, up-to-date presentation of the theory and applications of linear and branching time temporal logic; TLA (Temporal Logic of Actions); automata theoretical connections; model checking; and related theories. All theoretical details and numerous application examples are elaborated carefully and with full formal rigor, and the book will serve as a basic source and reference for lecturers, graduate students and researchers.
While it contains a useful list of temporal logical laws, Temporal Logic and State Systems by Kroeger and Merz is not a self-contained introduction to the subject. You will want to read Principles of Model Checking by Baier and Katoen first. You will also want to be familiar with the basic notation and theorems regarding fixed points of monotone functions, for which subject see Automata, Logics, and Infinite Games: "Some Fixed Point Basics" by Graedel, Thomas, and Wilke (ed.). Pretty much all the information you could ever need on CTL and LTL is contained in Temporal Logic and State Systems but much of it is in excess of what you'll need for most applications.