Abstract-Cyberphysical systems, with their interdependence between physical behaviour and digital control, need insights from frequency domain control engineering, state space control engineering and discrete formal systems theory for their proper description. Neglecting any of these, results in descriptions that omit essential details. Hybrid Event-B is a formalism that enables all the relevant detail to be assimilated. A case study based on yaw control for the KURT e-vehicle is used as a testbed to explore the effective interaction between the various needed disciplines in exploring a specific design issue, the formalisation of yaw control discretization, using Hybrid Event-B.

Systems engineering has emerged because of the growing complexity of systems and the growing need for systems to provide a reliable service. The latter has to be defined in a wider context of trustworthiness and covering aspects like safety, security, human-machine interface design and even privacy. What the user expects is an acceptable quality of service (QoS), a property that is difficult to measure as it is a qualitative one. In this paper, we present a novel criterion, called assured reliability and resilience level (ARRL) that defines QoS in a normative way, largely by taking into account how the system deals with faults. ARRL defines 7 levels of which the highest one can be described as the level where the system becomes antifragile.