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Abstract—Model-based design is a powerful design technique for cyber-physical systems, but too often literature assumes knowledge of a methodology without reference to an explicit design process, instead focusing on isolated steps such as simulation, software synthesis, or verification. We combine these steps into an explicit and holistic methodology for model-based design of cyber-physical systems from abstraction to architecture, and from concept to realization. We decompose model-based design into ten fundamental steps, describe and evaluate an iterative design methodology, and evaluate this methodology in the development of a cyber-physical system. Index Terms—model-based design, cyber-physical systems, embedded

Many modeling techniques for embedded systems focus on events that occur in time and the causality relationships between them. Event-oriented modeling complements classoriented, object-oriented, actor-oriented and state-oriented approaches. To facilitate event-oriented modeling, we have extended an older established model called event graphs to define new model of computation that we call Ptera (Ptolemy event relationship actors). Ptera is appropriate for modeling complex discrete-event systems. A key capability is that Ptera models conform with an actor abstract semantics that permits hierarchical composition with other models of computation such as discrete-event actors, dataflow, process networks and finite state machines. This enables their use in complex system design, where not every aspect of the system is best described with event-oriented modeling. Categories and Subject Descriptors C.3 [Special-Purpose and Application-Based Systems]: real-time and embedded systems; F.1.1 [Computation by