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Complex control system is heterogeneous and imposes great challenges for control system design. This paper presents a component-oriented modeling and design methodology that reduces complexity by separating data-related computational parts (components) and interaction among components (design pattern). Frameworks are composed hierarchically to manage heterogeneous models and achieve component and design pattern reuse. We introduce a notion of supervisor to characterize the property that a framework can aggregate individual component's computation into a well-defined composite computation such that heterogeneous models can be composed. A simplified component-oriented hierarchically hybrid control system in a distributed real-time platform is implemented to prove the feasibility and flexibility of our methodology.