Introduction to embedded systems : a cyber-physical systems approach / Edward A. Lee and Sanjit Arunkumar Seshia.

Introduction -- I. Modeling Dynamic Behaviors -- Continuous Dynamics -- Discrete Dynamics -- Hybrid Systems -- Composition of State Machines -- Concurrent Models of Computation -- II. Design of Embedded Systems -- Sensors and Actuators -- Embedded Processors -- Memory Architectures -- Input and Output -- Multitasking -- Scheduling -- III. Analysis and Verification -- Invariants and Temporal Logic -- Equivalence and Refinement -- Reachability Analysis and Model Checking -- Quantitative Analysis -- Security and Privacy -- IV. Appendices -- Sets and Functions -- Complexity and Computability.