Cyber-physical systems (CPSs) are physical systems which are monitorized, controlled, coordinated, and tightly integrated in a general purpose network. In cyber-physical systems, the hardware and software components interlace with the network and, hence, their study requires that several technologies such as computation, comunication and control are integrated. This can report some benefits since it can promote more reliable and robust, smarter and safer systems, and it has several potential fields of application, such as energy, transportation systems, surveillance, or medicine. However, there are still some open challenges in the control of CPSs due to their complexity and heterogeneity. Thus, the main goal of this project is the analysis, design and control of CPSs, with the focus on the development of new control laws that take into account the cybernetic constraints (communication and computation), and that are efficient and resource aware. For this purpose, new modelling paradigms will be studied to describe te interconnections between the different physical components of the system, and with the cybrnetic part. Once these models are obtained, newcontrol and communication control laws will be designed in tandem to guarantee the required efficiency, flexiblility and scalability of the CPS. The balance between implementation complexity and control performance will be studied according to the applications’ requirements. Additionally, the results will be validated in different experimental platforms.