Engineering Safe and Secure Cyber-Physical Systems: The Specification Pearl Approach: 2016 by Roman Gumzej, Wolfgang A. Halang (Hardback, 2016)
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It shows that by following the standards for embedded system’s safety and using appropriate hardware and software components inherently safe system’s architectures can be devised and certified. While the standards already enable testing and certification of inherently safe and sound hardware, this is still not the case with software.