I. Introduction
Current technological advances in communication technology have led to systems, in which networks connect more and more locally controlled and autonomously operating devices. Such systems have an impact across a large number of applications, including networked automobile and traffic systems, smart energy grids, and the next generation of manufacturing plants (Industry 4.0). Typically referred to as cyber-physical systems, these systems are composed of physical components, digital and computational nodes, and the interconnecting communication infrastructure [1]. While traditional engineering concepts follow divide-and-conquer principles for separated and largely decoupled design of these components, requirements of high performance, reliability, and online and autonomous reconfiguration call for integrated design, in which interdependencies are carefully taken into account [2].