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In this paper, a formal framework for component-based embedded systems is presented. Resorting to such a framework, the soundness, congruence and completeness of system structures and behaviors can be derived. The framework involves various MoCs reflecting interacting rules and operational semantics for system behaviors and a formal language specifying definitions, axioms, transition rules or equations/inequations for MoCs as a meta model. The formal language is composed of extended process algebra (EPA) and ordinary differential equation (ODE), both concerning about discrete time and continuous time behaviors.