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Cyber-Physical Systems (CPSs) seamlessly integrate lots of heterogeneous cyber and physical entities to realize precise controlling of the physical world. Traditional service-oriented models are insufficient to effectively compose the atomic services provided by cyber and physical entities to implement a specific task. In this paper, we presented an efficient context-sensitive service composition framework for precise controlling in CPSs. We firstly proposed an ontology model for context-sensitive specification of the service abilities of physical entities. And then, the business workflow logic model was given for functionality decomposition of a task. Furthermore, the key sub-modules in service composition including the atomic service clustering scheme and QoS-aware service selection algorithm were initially investigated. Our proposed service composition framework is helpful to automate the composition process under real-time constraints and under various physical resource constraints. This preliminary solution for service composition in CPS is important and helpful for in-depth study and practical applications of CPSs.