This chapter presents a part of the theory of the mu-calculus that is relevant to the, broadly understood, model-checking problem. The mu-calculus is one of the most important logics in model-checking. It is a logic with an exceptional balance between expressiveness and algorithmic properties. The chapter describes in length the game characterization of the semantics of the mu-calculus. It discusses the theory of the mu-calculus starting with the tree model property, and bisimulation

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... Then it develops the notion of modal automaton: an automaton-based model behind the mu-calculus. It gives a quite detailed explanation of the satisfiability algorithm, followed by the results on alternation hierarchy, proof systems, and interpolation. Finally, the chapter discusses the relations of the mu-calculus to monadic second-order logic as well as to some program and temporal logics. It also presents two extensions of the mu-calculus that allow us to address issues such as inverse modalities.