Abstract: It's common in controller design to assume that the controller reads the sensors and writes to the actuators at the same time instant. This assumption is often violated in practice because the controller executes its code sequentially on a microprocessor. If the microprocessor is "fast enough," often the controller will still work.

Abstract: Central to the operation of cyber-physical systems (CPS) is accurate and reliable knowledge of time, both for meaningfully sensing and controlling the physical world state and for correct, high-performance and energy-efficient orchestration of computing and communication operations. Emerging applications that seek to control agile physical processes or depend on precise knowledge of time to infer location and coordinate communication, make use of time with diverse semantics and dynamic quality requirements.