  This paper presents the first model-checking algorithm for an expressive
modal mu-calculus over timed automata, $L^{\mathit{rel},
\mathit{af}}_{\nu,\mu}$, and reports performance results for an implementation.
This mu-calculus contains extended time-modality operators and can express all
of TCTL. Our algorithmic approach uses an "on-the-fly" strategy based on proof
search as a means of ensuring high performance for both positive and negative
answers to model-checking questions. In particular, a set of proof rules for
solving model-checking problems are given and proved sound and complete; we
encode our algorithm in these proof rules and model-check a property by
constructing a proof (or showing none exists) using these rules. One noteworthy
aspect of our technique is that we show that verification performance can be
improved with \emph{derived rules}, whose correctness can be inferred from the
more primitive rules on which they are based. In this paper, we give the basic
proof rules underlying our method, describe derived proof rules to improve
performance, and compare our implementation of this model checker to the UPPAAL
tool.
