I. Introduction
Model-based design in Cyber-Physical Systems (CPS) provides abstraction and modeling techniques to integrate the dynamics of the physical processes with software and communication components. As opposed to desktop computing, CPS should be dynamically reconfigurable and adapt to changes in the environment. Application-specific disturbance models may be included to predict the effect of unknown physical disturbances that perturb system behavior and incorporate these effects on the input and state variables for control system design. Complex CPS applications such as in industrial machines, land vehicles, medical equipment, spacecraft, jet engines require new computer-aided methods for modeling, simulation and offline design. These methodologies are influ-enced by the need for lower time to market and higher quality, reliability and safety for the CPS design.