To my very great shame I am aware that there is an entire literature on the topic and I have barely even skimmed the surface of it.
Snodgrass, a leading researcher on temporal databases, wrote a book in 90s about it which is available for free from his website[1].
It's good because it was written before some temporal extensions were added in SQL:2003 (I think). The problem is that almost nobody has implemented those extensions (I believe some versions of DB2 have them), so you are left with doing things by hand. The Snodgrass book goes into amazing detail as to why you'd do such a thing and how to do it.
Snodgrass, a leading researcher on temporal databases, wrote a book in 90s about it which is available for free from his website[1].
It's good because it was written before some temporal extensions were added in SQL:2003 (I think). The problem is that almost nobody has implemented those extensions (I believe some versions of DB2 have them), so you are left with doing things by hand. The Snodgrass book goes into amazing detail as to why you'd do such a thing and how to do it.
[1] http://www.cs.arizona.edu/~rts/tdbbook.pdf