Lazy linear hybrid automata (LLHA) model the discrete time behavior of control systems containing finite-precision sensors and actuators interacting with their environment under bounded inertial delays. In this paper, we present a symbolic technique for reachability analysis of lazy linear hybrid automata. The model permits only linear flow constraints but the invariants and guards can be any computable function. We present an abstraction hierarchy for LLHA. Our verification technique is based on bounded model checking and k-induction for reachability analysis at different levels of the abstraction hierarchy within an abstraction-refinement framework. The counterexamples obtained during BMC are used to construct refinements in each iteration. Our technique is practical and compares favorably with state-of-the-art tools, as demonstrated on examples that include the Air Traffic Alert and Collision Avoidance System (TCAS).