Assertion-based Design 2Nd Ed
by Harry D. Foster, Adam C. Krolnik, David J. Lacey
http://www.amazon.com/gp/product/1402080271/002-0884070-0839231
Ch1 Introduction
Ch2 Assertion Methodology
Ch3 Specifying RTL Properties
Ch4 PLI-Based Assertions
Ch5 Functional Coverage
Ch6 Assertion Patterns
Ch7 Assertion Cookbook
Ch8 Specifying Correct Behavior
Appendix A Open Verification Library
Appendix B PSL Property Specification Language
Appendix C SystemVerilog Assertions