8.1 Introduction and Motivation8.1.1 Challenges in Cyber-Physical Systems8.1.2 A Complexity-Reducing Technique for Synchronization8.2 Basic Techniques8.2.1 Formal Software Engineering8.2.2 Distributed Consensus Algorithms8.2.3 Synchronous Lockstep Executions8.2.4 Time-Triggered Architecture8.2.5 Related Technology8.3 Advanced Techniques8.3.1 Physically Asynchronous, Logically Synchronous Systems8.4 Summary and Open ChallengesReferences