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Cyber-physical systems (CPSs) combine cyber capabilities, such as computation orcommunication, with physical capabilities, such as motion or other physical processes. Cars,aircraft, and robots are prime examples, because they move physically in space in a way that isdetermined by discrete computerized control algorithms. Designing these algorithms ischallenging due to their tight coupling with physical behavior, while it is vital that thesealgorithms be correct because we rely on them for safety-critical tasks. This textbook teaches undergraduate students the core principles behind CPSs. Itshows them how to develop models and controls; identify safety specifications andcritical properties; reason rigorously about CPS models; leverage multi-dynamicalsystems compositionality to tame CPS complexity;identify required control constraints;verify CPS models of appropriate scale in logic; and develop an intuitionfor operational effects. The book is supported with homework exercises, lecture videos, and slides.