On timed automata with input-determined guards

We consider a general notion of timed automata with input-determined guards and show that they admit a robust logical framework along the lines of [6], in terms of a monadic second order logic characterisation and an expressively complete timed temporal logic. We then generalize these automata using the notion of recursive operators introduced by Henzinger, Raskin, and Schobbens [10], and show that they admit a similar logical framework. These results hold in the "pointwise" semantics. We finally use this framework to show that the real-time logic MITL of Alur et al [2] is expressively complete with respect to an MSO corresponding to an appropriate set of input- determined operators.