Contents: 1 Introduction 1.1 Applications 1.2 Motivating example 1.3 The design process 1.4 Summary I Modeling dynamic behaviors 2 Continuous dynamics 2.1 Newtonian mechanics 2.2 Actor models 2.3 Properties of systems 2.4 Feedback control 2.5 Summary Exercises 3 Discrete dynamics 3.1 Discrete systems 3.2 The notion of state 3.3 Finite-state machines 3.4 Ex…