LUSTRE

A real-time dataflow language for synchronous systems, especially automatic control and signal processing. A Lucid[2] subset, plus timing operators and user-defined clocks.

"Outline of a Real-Time Data-Flow Language", J.-L. Bergerand et al, Proceedings of the IEE-CS Real Time Systems Symposium, San Diego, IEEE Dec 1985, pp.33-42.

"LUSTRE: A Declarative Language for Programming Synchronous Systems", P. Caspi et al, Conference Record of the 14th Annual ACM Symposium on Principles of Programming Languages, 1987.