Due to the complexity in the development of embedded systems, engineers look to the requirements engineering field for methods and techniques that support the construction of these systems, specially when it concerns the handling of Non-Functional Requirements (NFRs), such as cost and energy consumption. Indeed, many papers report challenges with the elicitation and specification of NFRs for embedded systems. Thus, this paper aims to address the difficulty of identifying, interrelating and documenting NFRs in embedded systems projects, by means of a catalog of Non-Functional Requirements for Embedded Systems (NFR4ES). With this catalog, knowledge was obtained from the literature and from experts on the subject, which was then organized in order to facilitate the elicitation and specification of requirements for embedded systems. NFRs were only included in the catalog if we could find written evidence of their applicability for such systems. It was evaluated by means of a proof of concept as well as through a survey with specialists, where it was considered useful and appropriate for the elicitation and specification of embedded systems.