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Cyber-physical systems (CPS) are characterized by extremely tight integration of and coordination between computational and physical resources. Embedded computers and networks in the cyber world monitor and control the physical world. But it is impossible to make systems suitable to all situations because the physical world has much uncertainty and uncontrollable condition. The interactive mechanism between the cyber world and the physical world is a key domain for innovation and a major challenge to building Cyber-Physical systems. As the most application fields of CPS are the national infrastructure such as Smart Rescue System, Intelligent Building System, Smart Grid, Smart Highway and etc., all cyber-physical systems Â¿must be dependable, secure, safe, efficient and operate in real-time. They must also be scalable, cost-effective and adaptive.Â¿  In this paper, we focus on the dependability of CPS to make high reliable systems.