UNIT – I

Framework for Cyber Physical System

(CPS)
 Contents
• Introduction to CPS
• IoT Vs. CPS
• Concept map
• CPS analysis by example
• Application domains
• Significance of CPS
• Hybrid system Vs. CPS
• Multi dynamical system
• Components of CPS
• Physical – Cyber and Computational components
 Cyber-Physical Systems

• Cyber-Physical Systems (CPS) are integrations of computation,

networking, and physical processes.
• Embedded computers and networks monitor and control the
physical processes, with feedback loops where physical processes
affect computations and vice versa.
• The economic and societal potential of such systems is vastly
greater than what has been realized, and major investments are
being made worldwide to develop the technology.
• The technology builds on the older (but still very young) discipline
of embedded systems, computers and software embedded in
devices whose principle mission is not computation, such as cars,
toys, medical devices, and scientific instruments.
• CPS integrates the dynamics of the physical processes with those of
the software and networking, providing abstractions and modeling,
design, and analysis techniques for the integrated whole.
 Definition

• Cyber-Physical Systems are systems that integrate computing

elements with the physical components and processes.
• The computing elements coordinate and communicate with sensors,
which monitor cyber and physical indicators, and actuators, which
modify the cyber and physical environment.
• Cyber-Physical Systems use sensors to connect all distributed
intelligence in the environment to gain a deeper knowledge of the
environment, which enables a more accurate actions and tasks.
• Cyber-Physical Systems consists of computation, communication
and control components tightly combined with physical processes
of different domains such as mechanical, electrical, and chemical.
 Internet of Things (IoT)

• IoT is the technology enabling the inter-connection of all

types of devices through the internet to exchange data,
optimize processes, monitor devices in order to generate
benefits for the industry, the economy, and the end user.
• It is composed of network of sensors, actuators, and devices,
forming new systems and services.
• CPS is an engineering discipline, focused on technology, with a strong
foundation in mathematical abstractions.
• The key technical challenge is to conjoin abstractions that have evolved
over centuries for modeling physical processes (differential equations,
stochastic processes, etc.) with abstractions that have evolved over
decades in computer science (algorithms and programs, which provide a
"procedural epistemology" [Abelson and Sussman]).
• The former abstractions focus on dynamics (evolution of system state
over time), whereas the latter focus on processes of transforming data.
• Computer science, as rooted in the Turing-Church notion of
computability, abstracts away core physical properties, particularly the
passage of time, that are required to include the dynamics of the physical
world in the domain of discourse.
 Concept Map
• A concept map is a diagram that depicts information, ideas, and concepts in
a graphical format.
• Concept maps are high for structuring and organizing information because
in concept mapping, the information is displayed hierarchically, and the
relationships that exist between concepts that are traced and depicted using
lines or arrows.
• Cyber-Physical Systems
– A cyber-physical system (CPS) is an integration of computation with physical
processes.
– Embedded computers and networks monitor and control the physical processes,
usually with feedback loops where physical processes affect computations and vice
versa.
– As an intellectual challenge, CPS is about the intersection, not the union, of the
physical and the cyber. It is not sufficient to separately understand the physical
components and the computational components.
– We must instead understand their interaction.
– The design of such systems, therefore, requires understanding the joint dynamics of
computers, software, networks, and physical processes.
– It is this study of joint dynamics that sets this discipline apart.
• Feedback Systems
• Cyber components in a CPS application often include algorithms that react
to sensor data by issuing control signals via actuators to the physical
components of the CPS. Such closed-loop feedback systems are the domain
of the classic field of control theory, which studies stability and dynamics
of such interactions.
• CPS, however, requires extending control theory to embrace the dynamics
of software and networks, which can have profound effects on stability and
dynamics of the physical subsystems.
• Phenomena that affect dynamics include timing jitter in communications
and computation, packet losses in networks, and resource contention.
• Environmentals in the Loop
– With recent climate change challenges, cyber physical systems are
playing an increasingly important role in improving environmental
sustainability.
– Environmentally friendly CPSs support carbon footprint reduction,
decarbonization, and greenhouse gas emission reduction through the
integration of diverse environmental cost factors and signals in the
control loop.
– Environmental cost signals are typically used in conjunction with
economic signals in multi-objective optimization models to control
environmental, economic, and technical performance of the integrated
CFS. Environmental feedback in multi-criteria decision making toward
overall low-carbon system performance has the added advantage of
flexible CFS adaptation to dynamic environmental changes.
• Economics in the Loop
– Modern cyber-physical systems are given expanded scope and greater
flexibility by including dynamic pricing signals, financial information,
and economic attributes as integral feedback components.
– The integration of such dynamic value-based parameters provides a
wealth of new computationally intelligent behavior dynamics and
dimensions of control that enriches the cyber physical eco-system.
– Understanding and applying economic signals in the feedback loop
enables cost optimization and balancing aspects that have become
particularly important in modern cost goal orientated systems such as
transactive control and blockchain trading technologies.
• Human in the Loop
– Many cyber-physical systems include humans as an integral
components.
– Humans are very difficult to model, so understanding and validating
such systems becomes particularly challenging.
• Wireless Sensing and Actuation
– Low-power wireless sensors and actuators enable much richer
measurement and control of physical processes than what is affordable
with wired systems.
– Issues that arise with wireless sensing and actuation include at least:
data models for distributed sensor data; localization (positioning in
space) of sensors and actuators; and time synchronization, which
enables coordinated sleep and wakeup times, and also enables time-
stamping of sensor data with globally meaningful time stamps.
• Networked Control
– Classical control theory assumes continuous or discrete-time signaling,
where the controller continually or periodically observes the ``plant''
(the physical subsystem), and continually or periodically provides
actuation to the plant. In a typical CPS architecture, the signaling is
mediated by software and networks that do not have such continuous or
periodic behavior.
– Adapting control theory to handle the realities of software and
networks is an important CPS problem.
• Adaptive and Predictive
–CPS systems are typically closed-loop systems, where sensors make measurements
of physical processes, the measurements are processed in the cyber subsystems,
which then drive actuators that affect the physical processes.
–The control strategies implemented in the cyber subsystems need to be adaptive
(respoding to changing conditions) and predictive (anticipating changes in the
physical processes).
• Intelligent Systems
– Intelligent systems are ones that emulate human capacities for learning,
understanding, or perception. In the context of CPS, there are particular
opportunities and challenges associated with controlling or predicting the behavior
of such systems and how their behavior affects overall system behavior.
• Real-Time Systems
– Cyber-physical systems typically include software that has timing constraints,
including tasks that must be executed periodically, deadline constraints, or latency
constraints.
– The classical field of real-time systems, which provides operating-system-level
scheduling strategies, plays a central role in this.
– A key problem that is specific to CPS is that traditional programming models only
indirectly specify timing properties (typically by associating priorities with tasks),
so a key opportunity is to develop programming models for timed systems, and
most interestingly for distributed timed systems.
• Cyber Security
• The over-arching goal of cyber security is to build trust in systems.
• Resilience
• Technically, resilience is the ability of a material to absorb energy when it
is deformed. In the context of CPS, resilience is the ability of a system to
continue operating satisfactorily when stressed by unexpected inputs,
subsystem failures, or environmental conditions or inputs that are outside
the specified operating range. Fault tolerance, fault detection,
and adaptation are all techniques the promote resilience.
• Privacy
• In the context of CPS, privacy is the problem of protecting information
about humans from unauthorized access by other humans or machines.
• Malicious Attacks
• All networked computing systems face risk of malicious attacks. As CPS
networks become more open, they too become vulnerable. But even with
closed networks, separated by an ``air gap'' from open networks, there are
still risks due to incomplete trust in suppliers and due to the possibility of
accidental introduction of malicious code. Particular problems
include:back doors;denial of service attacks; trojan horses; and viruses.
• Intrusion Detection
• Need to consider both physical and cyber intrusions. Technologies that can
be brought to bear include:embedded vision: motion detection and
tracking, human detection, face recognition; and timing models: enable
detection of timing anomalies, which can reveal intrusion.
• Safety
• The goal of safety is to assure that the system will not misbehave in a
manner that transitions the system to hazardous states and, therefore, is
susceptible to causing losses in general and accidents in particular.
• Hazard Analysis
• Hazard analysis attempts to identify the conditions and states that the
system could transition to to lead to losses.
• Unsafe Control Actions
• From Leveson, STAMP handbook, an unsafe control action is a control
action that, in a particular context and worst-case environment, will lead
to a hazard. It can be one of four types:Not providing the control action
leads to a hazard.
• Providing the control action leads to a hazard.
• Providing a potentially safe control action but too early, too late, or in the
wrong order.
• The control action lasts too long or is stopped too soon (for continuous
control actions, not discrete ones).
• Safety
• The goal of safety is to assure that the system will not misbehave in a
manner that transitions the system to hazardous states and, therefore, is
susceptible to causing losses in general and accidents in particular.
• Safety Constraints
• Safety constraints enumerate the conditions or behaviors that the system
should preserve such that it does not transition to a hazardous state.
• Losses
• Losses enumerate what the stakeholders of the system consider
unacceptable outcomes.
• Design Methodology
• Contracts
• Design for Evolvability
• Platform-Based Design
• Specification, Modeling, and Analysis
• Cyber-physical systems are intrinsically concurrent. At a minimum, the
cyber and the physical subsystems coexist in time, but even within these
subsystems, concurrent processes are common. Models of concurrency in
the physical world (coexisting physical dynamics in a time continuum) are
very different from models of concurrency in software (arbitrary
interleaving of sequences of atomic actions), and very different from
models of concurrency in networks (asynchronous, partially-ordered
discrete actions or clock-driven time slots). Reconciling these divergent
models of concurrency, and ensuring interoperability and communication
between components that have divergent models of concurrency, is a
central problem in CPS.
• Scalability and Complexity Management
• Cyber-physical systems are inherently heterogeneous, since at a minimum
they combine physical dynamics with computational processes. But they
are often heterogeneous even within the physical and cyber domains. The
physical domain may be multi-physics, combining for example mechanical
motion control, chemical processes, biological processes, and human
operators. The cyber domain may combine networking technologies,
programming languages, software component models, and concurrency
mechanisms. Software in CPS applications can grow to very large systems.
The challenge, therefore, is to provide design methologies and tools that
support those methologies, that scale to large designs, facilitate analysis,
and promote understanding of complex systems. The problems include:
systems engineering; software engineering processes; software
engineering technologies (refactoring tools, program analysis, etc.), design
tools; cosimulation technologies; model exchange.
• Validation and Verification
• Validation is the process of determining whether a design meets the
needs of the user, whereas verification is the process of determining
whether a design meets a set of requirements, specifications, and
regulations. If the requirements, specifications, and regulations are given
in a formal language, then it may be possible to automate verification,
resulting in a process known as formal verification. Verification may form
part of a validation process, but in general, validation cannot be
formalized because it relates a system design to intent. Simulation may
also be used for validation, but it is more problematic for verification. To
use simulation for verification, it is necessary to ensure
adequate coverage of operating conditions, scenarios, and system inputs.
For Monte-Carlo simulations, "coverage" is defined statistically or
probabilistically. Testing can also be used for validation, but for the same
reasons, it too is problematic for verification.
 Cyber-Physical Systems and Hybrid Systems
• Cyber-Physical Systems (CPSs) was coined by Helen Gill around 2006, at the
National Science Foundation (NSF) in the U.S., to refer to the integration of
computation with physical processes.
• Often, it also has a communicating or networked aspect.
• If we consider this description from the point of view of the mathematics needed
to model them, we can begin to see some technical requirements:
– Computational components give rise to a need for discrete modeling;
– physical components give rise to a need for continuous modeling;
– communications/networking aspect gives rise to a need for probabilistic and
possibly also a game theoretic modeling.
• Many fields of mathematical modeling will use either continuous or discrete
mathematics, and not mix them.
• And, in fact, combining these two can lead to some fundamental technical
problems.
• Adding probabilities on top requires an additional level of care.
• But at a more practical level, simply expressing models that combine both discrete
and continuous components requires a modeling formalism that can express both.
• That is precisely what hybrid (continuous/discrete) systems provide.
• A hybrid system is a mathematical model that features both continuous and
discrete behaviors (related areas are switching systems and impulsive differential
equations).
• While many CPSs can be modeled mathematically as hybrid systems, it is
important that we distinguish between the concept of the actual, physical system
and its mathematical models and the techniques used to study such.
• The mathematical models are there to capture observed behavior, but as new
observations occur that cannot be explained by the model it has to be modified or
even replaced.
• It is a common mistake to think of models of physical systems as continuous and
models of computational systems as discrete.
• Models of physical systems can be continuous, discrete, or a combination of both
• An embedded system is a computational system embedded in a physical system.
• Any CPS contains an embedded system.
• The main distinction is that the term “embedded system” reflects a primary focus on the
computational component (that is embedded in a larger, physical system).
• Traditionally, research on embedded systems focused on problems such as formal
verification of discrete systems (automata), hardware design, minimization of energy
consumption and production cost, as well as embedded software development.
• The CPS view emphasizes the importance of taking into account the physical context of the
computational system which is often necessary to design, test, and verify the functionality
that we are developing.
• A real-time system is one which must respond to external changes within certain timing
constraints.
• Many, but not all, real-time systems are embedded systems.
• For example, an automated trading agent would not normally be viewed as an embedded
system, even though it must operate under strict timing constraints if it is to function usefully
in response to rapidly changing market conditions.
• Traditionally, research in real-time systems has focused on scheduling or real-time tasks in
systems that have periodic or aperiodic request patterns, multiple (interchangeable)
computational resources, tasks of varying priorities, and real-time communication.
• Naturally, research in this area often focuses on worst case run time requirements.
• A CPS may or may not be a real-time system: The control system in a car has real-time
constraints, but the sound system does not necessarily have such.
• CPS is closely related to the disciplines of mechatronics, control theory, robotics,
and the Internet of Things (IoT).
• A common feature of these disciplines is that they are highly interdisciplinary.
• CPS can be viewed as an attempt to take an even more all-encompassing approach
than the first three disciplines, and being quite comparable to the last one (IoT).
• Texts on mechatronics may not necessarily dedicate a large part to
communications and networking, or to hybrid systems foundations.
• Textbooks in control theory covering issues such as hybrid systems are still
considered relatively advanced and specialized.
• Robots are obviously great examples of CPSs, illustrating many of the challenges
involved in designing innovative CPS products.
• We will use a ping pong (table tennis) playing robot as a running case study in a
project that we will develop incrementally in different chapters.
• Both CPS and IoT take the view that the world is becoming highly connected and
computational, and it is possible that the two approaches will converge.
• Historically, CPS is seen by some as having emerged from the Control Theory
community, whereas IoT as having emerged from the Communications community.
 Computational vs. Physical Systems
• It is common when we first hear the definition of Cyber-Physical Systems to
assume the computational and physical subsystems are distinct.
• Often this will be the case, but not always.
• The key point is that when we use these designations we are making an
abstraction.
• Every physical system that we can think of, by definition, will have physical
components.
• At the same time, computation is an abstract notion that we can identify when we
recognize the presence of a mathematical function or relation.
• Today, we often assume that computation is performed digitally.
• But this is not always the case: Analog computers have long existed, and quantum
computers are already being built.
• Even when we limit ourselves to digital computation, the distinction is still not
clear:
• A modern microprocessor has aspects that simultaneously touch upon essentially
all computational and physical aspects.
• Especially to microprocessor designers, it is simultaneously physical and
computational in a very real way, and both its physical and computational
characteristics affect each other directly
 Biological and Intelligent Systems
• While the focus of much CPS research and education is on systems that we can
construct and develop into products, it is also instructive to reflect on one class of
systems that has many characteristics of CPSs—namely, living creatures including
ourselves.
• While we often view living creatures as purely biological systems, living systems
clearly have physical manifestations.
• These manifestations simultaneously exhibit a range of physical phenomena,
including mechanical, chemical, electromagnetic, and optical.
• At the same time, they often seem perfectly capable of computation and
communicate on a regular basis.
• Living systems can be a great source of inspiration for the design of new CPSs and,
similarly, advances in CPSs could provide us with better tools to improve
understanding of life and ourselves.
• For example, living systems are the inspiration for the field of Artificial Intelligence,
which aims to develop computational methods for solving problems that are
important in the real world, but for which we may not even have a clear notion of
what an acceptable solution should be
 Developing New Products
• An idea is a mental notion of an object, function, or design. Ideas are the colorful
realm of inspiration
• A model is a formal description. In this context, the word formal means having
form, such as syntactic or geometric manifestation
• A prototype is a physical, operational instance of the model. This enables more
early testing, which allows qualitatively different validation than what can be
achieved analytically or computationally. Prototypes can be used to evaluate the
safety as well as the response of users to first-hand experience with the product
concept
• A product is a manufactured commodity that can be sold commercially to end
users. While the public often identifies new technology with new products,
building products involves much more than technical innovation.
• Figure depicts the typical relation between such artifacts, and the basic iterative
cycle for moving from one to the next.
• As a rule of thumb, it is often the case that moving from one stage of development
to the next involves at least one order of magnitude (that is, at least ten times)
more effort than the previous stage.
• This compounding of effort in moving from one stage to the next, combined with
the fact that the process often involves significant iteration and refinement, means
that maximizing the quality of the intermediate product before we move to the
next stage can significantly reduce the final cost.
• The high cost of iterating back from a late stage in this pipeline is a big motivation
for modeling and simulation.
 Examples
• Many examples of CPSs surround us in everyday life.
• In the home we have cleaning robots, smart lighting systems, and smart heating,
ventilation, and air-conditioning (or HVAC) systems.
• For transportation we have cars, planes, motorized scooters, Segways, and electric
bicycles.
• Existing systems like these are representative of the areas where we can expect to
see significant innovation and development in the future.
• For instance while cars have been around for almost 350 years,7 new features like
Lane Departure Warning Systems (LDWS) are now available in vehicle product
lines.
• Medical solutions include pacemakers, insulin pumps, personal assistance robots,
and smart prosthetics.
• Many of these technologies did not exist until recently, and have the potential
both to save lives and to significantly improve health and wellbeing.
• Wearable fitness and health-monitoring systems promise to have a hugely positive
impact on users, whether or not they are healthy or have a physical or a cognitive
disability.
• Health monitoring systems are just one example of the
whole area of sensor networks, which includes those made
of tiny sensors used to observe large land, marine, or aerial
spaces.
• Finally, examples from the energy sector include windmills,
smart grids, and various energy harvesting technologies.
• In fact, it is no exaggeration to think of our entire planet as
a single, massive CPS.
• For example, the Segway may seem more critically
dependent on having a “cyber” (or computational)
component than a car.
• A car can exist and function without a computational part.
• But a Segway has just two wheels, and it is not at all
obvious whether it can even exist or function without the
computational component that keeps it upright.
• Mechanically, the Segway is an unstable system that we
can prove mathematically ought to fall if the
computational component that keeps it upright is switched
off.
• The Segway uses a real-time control system that runs on a dedicated, embedded
computer.
• Whereas, traditionally, many systems have been designed to be stable in the
absence of active control, the Segway and many generations of jet fighters (such as
the Saab JAS 39 Gripen) have designs whose stability depends critically on active
control.
• The idea in all of these cases is that pursuing this path leads to more efficient
designs that can realize functionality that would be impossible without the active
control.
• For a variety of technical reasons, the control itself would not be possible without
a computational component.
• While powerful airborne vehicles can be very impressive, in the grand scheme of
things their applications are relatively limited, and their impact on daily life can be
minimal. In contrast, smart home technologies may have a bigger and more direct
impact.
• For example, significant energy is expended in heating and cooling
buildings, washing and drying clothes, and transporting people and
commodities to and from homes. This means that the optimization of
HVAC systems can have a significant impact on global energy
consumption. Similarly, computation can enable sophisticated hydroponic
gardening right in the home to provide us with a local supply of fresh
nutrition. Combining the two may also enable more advanced
management of various parameters of comfort in the home (air moisture
levels, CO2 levels) and improve health and living conditions.
 Requirements for a CPS
• The combination of the cyber and the physical, and their connectedness, is
essential to CPS.
– A CPS generally involves sensing, computation and actuation.
– CPS involve traditional information technology (IT) as in the passage of data from sensors to the
processing of those data in computation.
– CPS also involve traditional operational technology (OT) for control aspects and actuation.
– The combination of these IT and OT worlds along with associated timing constraints is a
particularly new feature of CPS.
• A CPS may be a System of Systems (SoS).
– As such, it may bridge multiple purposes, as well as time and data domains, hence requiring methods
of translation or accommodation among these domains.
– For example, different time domains may reference different time scales or have different granularities
or accuracies.
• Emergent behaviors are to be expected of CPS, due the open nature of CPS
composition.
– Understanding a behavior that cannot be reduced to a single CPS subsystem, but comes about through
the interaction of possibly many CPS subsystems, is one of the key analysis challenges.
– For example, a traffic jam is a detrimental emergent behavior; optimal energy distribution by the
smart grid where power consumers and producers work together is a desirable positive emergent
effect.
• CPS need a methodology to ensure interoperability, managing evolution, and
dealing with emergent effects.
– Especially in large scale CPS such as smart grid and smart city, many of the subsystems are the
responsibility of different manufacturers.
• CPS may be repurposed beyond applications that were their basis of design.
– For example, a cell phone in a car may be used as a mobile traffic sensor, or energy usage information
may be used to diagnose equipment faults.
• CPS are noted for enabling cross-domain applications.
– As an example, consider the intersection of the domains: manufacturing and energy distribution
systems, smart cities, and consumer-based sensing.
• CPS potential impact on the physical world and their connectedness bring with
them heightened concern about trustworthiness.
– There is a more urgent need for emphasis on security, privacy, safety, reliability, and resilience, and
corresponding assurance for pervasive interconnected devices and infrastructures.
– As an example, CPS networks may have “brokers” and other infrastructure-based devices and
aggregators that are owned and managed by third parties, resulting in potential trust issues – e.g.,
publish and subscribe messaging, certificate authorities, type and object registries.
• CPS should be freely composable.
– Components are available that may be combined into a system dynamically, and the system
architecture may be modified during runtime to address changing concerns.
– There are challenges, however. For example, timing composability may be particularly difficult.
– Also, it may not always be necessary or desirable to purchase assets to build a system; instead,
services can be purchased on a per-use basis, with users only paying for using the resources needed
for a specific application and at the specific time of usage.
• CPS must be able to accommodate a variety of computational models.
– Each CPS application has computational and physical components and the range of platform and
algorithm complexity is broad.
• CPS must also support a variety of modes of communication.
– CPS comprise systems that range from standalone to highly networked.
– They may use legacy protocols or anything up to more object exchange protocols.
– And they may be anywhere from power constrained to resource rich.
• The heterogeneity of CPS leads them to display a wide range of complexity.
– The complexity associated with the sensing and control loop(s) with feedback that are central to CPS
must be well addressed in any design.
– This complexity must be accommodated by any framework for CPS, including sensors that range
from basic to smart; static and adaptive sensors and control; single-mode and multi-faceted sensors;
control schemes that can be local, distributed, federated, or centralized; control loops that rely on a
single data source and those that fuse inputs; and so on. Interactions can be loosely coupled, as in
repurposing of distributed sensing that is part of an existing CPS, as well as tightly coupled, as in
telemedicine or smart grid operations.
– Coupling is both an opportunity to fulfill the vision of CPS and a challenge to CPS assurance.
– Emergent behaviors can become part of the intent of new services or may be unwanted.
– To mitigate complexity, CPS may be a product of co-design.
– In co-design, the design of the hardware and the software are considered jointly to inform tradeoffs
between the cyber and physical components of the system.
• There is typically a time-sensitive component to CPS, and timing is a central
architectural concern.
– A bound may be required on a time interval, i.e., the latency between when a sensor measurement
event occurred and the time at which the data was made available to the CPS.
– The accuracy of event timestamps is a constraint on a time value, in this case between the actual time
of the event and the value of the timestamp.
– Accurate time intervals are useful for coordinating actions in CPS of large spatial extent.
– Accurate timestamps in CPS are typically needed to facilitate better root cause analysis, and
sometimes also for legal or regulatory reasons.
• CPS are characterized by their interaction with their operating environment (as
indicated by the sensing and control loop(s) discussed above).
– CPS, together or individually, ‘measure’ and sense and then calculate and act upon their environment,
typically changing one or more of the observed properties (thus providing closed loop control).
– The CPS environment typically includes humans, and humans function in a different way than the
other components of a CPS.
– The architecture must support a variety of modes of human interaction with CPS to include: human as
CPS controller or partner in control; human as CPS user; human as the consumer of CPS output; and
human as the direct object of CPS to be measured and acted upon
CPS Conceptual Model
• This figure is presented here to highlight the potential interactions of devices and
systems in a system of systems (SoS) (e.g., a CPS infrastructure).
• A CPS may be as simple as an individual device, or a CPS can consist of one or
more cyber-physical devices that form a system or can be a SoS, consisting of
multiple systems that consist of multiple devices.
• This pattern is recursive and depends on one’s perspective (i.e., a device from one
perspective may be a system from another perspective).
• Ultimately, a CPS must contain the decision flow together with at least one of the
flows for information or action.
• The information flow represents digitally the measurement of the physical state of
the physical world, while the action flow impacts the physical state of the physical
world.
• This allows for collaborations from small and medium scale up to city/nation/world
scale.
Segmentation of M2M Market
 Smart Transportation

• As an example of the scope of CPS, consider the case of smart traffic systems .
• Smart traffic systems consist of smart traffic monitoring and control infrastructure,
advanced traffic control centers powered by predictive analytics on real-time
traffic data, autonomous vehicles interacting with peer vehicles in proximity, and
traffic control systems.
• CPS controls have a variety of levels of complexity ranging from automatic to
autonomic. A prominent example of CPS in smart traffic is autonomous vehicles,
which are themselves systems of CPS. The functions of CPS within an autonomous
vehicle are orchestrated, collaborated, and coordinated to achieve the overall
autonomous functions of the vehicle.
 Dynamical systems
• Dynamical systems theory is the very foundation of almost any kind of rule-based
models of complex systems. It consider show systems change over time, not just
static properties of observations.
Definition: Dynamical System
• A dynamical system is a system whose state is uniquely specified by a set of
variables and whose behavior is described by predefined rules.
• Examples of dynamical systems include population growth, a swinging pendulum,
the motions of celestial bodies, and the behavior of “rational” individuals playing a
negotiation game, to name a few.
• The first three examples sound legitimate, as those are systems that typically
appear in physics textbooks.
• But what about the last example? Could human behavior be modeled as a
deterministic dynamical system?
• The answer depends on how you formulate the model using relevant assumptions.
If you assume that individuals make decisions always perfectly rationally, then the
decision making process becomes deterministic, and therefore the interactions
among them may be modeled as a deterministic dynamical system.
• Of course, this doesn’t guarantee whether it is a good model or not; the
assumption has to be critically evaluated based on the criteria discussed in the
previous chapter.
• multi-dynamical systems i.e., the principle to understand complex systems as a
combination of multiple elementary dynamical aspects.
• This approach helps us tame the complexity of complex systems by understanding
that their complexity just comes from combining lots of simple dynamical aspects
with one another.
• The overall system itself is still as complicated as the whole application. But since
differential dynamic logics and proofs are compositional, we can leverage the fact
that the individual parts of a system are simpler than the whole, and we can prove
correctness properties about the whole system by reduction to simpler proofs
about their parts.
• This approach demonstrates that the whole can be greater than the sum of all
parts.
• The whole system is complicated, but we can still tame its complexity by an
analysis of its parts, which are simpler.
• Completeness results are the theoretical justification why this multi-dynamical
systems principle works.
• Multi-dynamical systems are dynamical systems that can combine discrete
dynamics, continuous dynamics, adversarial dynamics, nondeterministic dynamics,
and stochastic dynamics to model cyber-physical systems.
• Dynamic logics for multi-dynamical systems capture the foundations and
fundamental reasoning principles for those multi-dynamical systems.
Components of Cyber Physical Systems
• Cyber-physical systems (CPSs) are smart systems that depend on the
synergy of cyber and physical components. They link the physical world
(e.g. through sensors, actuators, robotics, and embedded systems) with
the virtual world of information processing. Applications of CPS have the
tremendous potential of improving convenience, comfort, and safety in
our daily life.
• Cyber-physical systems (CPSs) are engineered systems that are designed to
interact seamlessly with networks of physical and computational
components. These systems will provide the foundation of our critical
infrastructure and improve our quality of life in many areas. CPSs and
related systems (such as IoT and industrial Internet) have the potential to
impact various sectors of the economy worldwide
• CPSs are complex systems with the integration of computation,
communication, and control (3C) technology (Wan, et al., 2011). They
combine cyber capabilities (computation and communication) with
physical capabilities (sensors and actuators). CPS can be found nearly
anywhere, including medicine, automobiles, electric power grids, city
infrastructure, manufacturing, aircraft, and building systems.
The 3C conception of CPS
• A CPS has three main components: (1) a physical system, (2) networking
and communication element, (3) a distributed cyber system.
• CPSs are designed with a set of distributed hardware, software, and
network components which are embedded in physical systems and
environments.
• The software plays the most important role; it includes all software
programs for processing, filtering, and storing information.
• CPSs interact with the physical system through networks. The major
characteristics of CPS include distributed real-time, scalability, and
reliability.
• Most CPSs support real- time applications such as real-time monitoring,
real-time control, and real- time forecasting.
CPS Layers
• CPS operates at three layers: perception, transmission, and application
(Ashibani and Mahmoud, 2017).
• The perception layer (or sensors layer) has terminal devices such as
sensors, actuators, cameras, GPS, RFID tags, and readers.
• These devices possess the ability to collect real-time data such as sound,
light, hear, electricity or location and perform commands from the
application layer.
• The transmission layer (or network layer) interchanges and processes data
between the perception and the application.
• Transmission is achieved using local area networks, the Internet or
communication technologies such as Wi-Fi, Bluetooth, ZigBee, and
infrared.
• The application layer processes information from transmission layer and
issues commands to be executed by the sensors and actuators. The main
objective of the layer is to create a smart environment.