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.)} }