Foundations of the formal sciencesin Berlin in 1998. The journal version was accepted in 1999, but appeared in print only in late 2002. I consider my other tutorial paper on model checking a better introduction to the field.
@Article{merz:modelchecking-synthese,
author = {Stephan Merz},
title = {Model Checking Techniques for the Analysis of
Reactive Systems},
journal = {Synthese},
year = 2002,
volume = 133,
pages = {173--201},
note = {Special Issue \emph{Foundations of the Formal Sciences},
B.\ L{\"o}we and F.\ Rudolph (eds.)}
}