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An overview of the current state of the formal modeling of cyber-physical systems (CPSs) is presented, and the challenges in developing high-confidence CPSs are discussed. To ensure the dependability of CPSs, CPSs formal model (CPSFM) is proposed based on a kind of Object-Oriented Petri nets (OPN). CPSFM describes the structure and behaviors of sensors, actuators and controllers. A variety of well-established techniques and supporting tools of Petri nets can be used to analyze, verify and validate CPSFM, and therefore the dependability of CPSs can be significantly improved.