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Systems with tightly interacting computational (cyber) units and physical systems are generally referred to as cyber-physical systems. They involve an interplay between embedded systems, control theory, real-time systems and software engineering. A very good example of cyber-physical systems design arises in the context of automotive architectures and software. Modern high-end cars have 50-100 processors or electronic control units (ECUs) that communicate over a network of buses such as CAN and FlexRay. In such complex settings, traditional control-theoretic approaches - where control engineers are only concerned with high-level plant and controller models - start breaking down. This is because implementation-level realities such as message delay, jitter, and task execution times are not adequately considered when designing the controller. Hence, it is becoming necessary to adopt a more holistic …