Cyber-physical systems (CPSs) are engineering systems with both computational and physical components [1]. Typi-cal CPSs include energy systems, transportation systems,autonomous vehicles, etc. CPSs are usually hybrid involving complex interactions of continuous dynamics with discrete logics. The development of controller design and verifica-tion algorithms for such complex systems are crucial and challenging tasks. Ever-increasing demands for safety and security of CPSs put stringent constraints on their analysis and design, and necessitate the use of formal model-based approaches. In recent years, we have witnessed a substantial increase in the use of formal techniques for the verification and design of safety-critical and security-sensitive CPSs [2].