This is the eBook version of the printed book. If the print book includes a CD-ROM, this content is not included within the eBook version.Real-time and embedded systems are in widespread use in the modern world. From the microprocessor controller in a camera, through "smart" traffic lights and production control systems, to large defense systems, computer technology is increasingly a part of systems that control and respond to their environments in real-time. As the technology has improved, we have come to rely on these systems more and more --- we have even put our lives in their hands. Airplanes, biomedical accelerators, nuclear power plants, and the like all depend on real-time control to operate safely. A failure in a control system, such as not responding correctly to faults in the environment, could endanger many lives.