Competitive Engineering: A Handbook For Systems Engineering, Requirements Engineering, and Software Engineering Using Planguage
by
Trey Sunderland
ISBN: 0890422982
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Many attempts have been made with varying degrees of formalization. Another one is e.g. https://en.wikipedia.org/wiki/Gellish.
It would be interesting to know what FRET is supposed to be able to do better than previous approaches.