Cyberphysical systems exhibit both continuous and discrete dynamics due to the interaction among physical, digital, and computing components. For example, power systems with switching components have variables that evolve continuously according to classical circuit laws and jump when switches occur. Also, mechanical systems with parts that collide with other parts or with their environment, typically have velocities that abruptly change direction at those collisions. More generally, a hybrid system is a dynamical system with variables that may evolve continuously and, also at times, exhibit jumps. Many systems in science and engineering combine such hybrid behavior. © 1991-2012 IEEE.