One of the most significant challenges in the development of embedded and cyber-physical systems is the gap between the disciplines of software and control engineering. In a marketplace, where rapid innovation is essential, engineers from both disciplines need to be able to explore system designs collaboratively, allocating responsibilities to software and physical elements, and analyzing trade-offs between them.

To this end, this book presents a framework that allows the very different kinds of design models discrete-event (DE) models of software and continuous time...