The only book of its kind, Cyber-Physical Systems addresses CPS from three perspectives. First, it presents the challenges and innovations associated with this class of systems as they have arisen in a wide spectrum of application domains. Second, it describes the foundations that underlie CPS solutions, both in terms of what we know and emerging research challenges. Finally, it offers offer guiding principles for all levels, from specific design and analysis advice for practitioners to high-level perspectives that can guide the direction of new innovations.