This book will serve as an upper division/graduate level textbook or a reference book for practitioners and researchers in Embedded System Design. It is based on a novel methodology (called Platform-Based Design) and toolset (developed at UC Berkeley over the past 15 years) that is foundational in its approach and has demonstrated effectiveness in numerous engineering domains, ranging from integrated circuits to telecommunications to automotive. This book describes a new design science to address the challenges posed by the heterogeneity intrinsic to modern system integration.