Abstract—By integrating computational and physical elements through feedback loops, CPSs implement a wide range of safetycritical applications, from high-confidence medical systems to critical infrastructure control. Deployed systems must therefore provide highly dependable operation against

Hiermit versichere ich, die vorliegende Diplomarbeit selbstständig und unter ausschliesslicher Verwendung der angegebenen Quellen und Hilfsmittel angefertigt zu haben. Diese Arbeit hat in gleicher oder ähnlicher Form noch keiner Prüfungsbehörde vorgelegen. Darmstadt, 14. Februar 2006

First, I would like to thank to Dimka Karastoyanova and Mariano Cilia for all the fruitful discussions, their guidance and support through the course of this project. Thanks also to Prof. Alejandro Buchmann who sponsored my stay at Technische Universität Darmstadt during the spring of 2004. The special thanks go to my advisor, Mariano Cilia, who has made all this possible. Finally, I’d like to thank to my family for all these years of support.

I declare that this thesis is my own account of my research and contains as its main content work which has not previously been submitted for a degree at any tertiary education institution.

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