The field of CPS draws from several areas in computer science, electrical engineering, and other engineering disciplines, including computer architecture, embedded systems, programming languages, software engineering, real-time systems, operating systems and networking, formal methods, algorithms, computation theory, control theory, signal processing, robotics, sensors and actuators, and computer security. Similarly, over the past 14 years, we have had students from computer science, electrical and computer engineering, mechanical engineering, civil engineering, and even bioengineering. Integrating this bewildering diversity of subject areas into a coherent whole for students with such a wide breadth of backgrounds has been a challenge we had to overcome. One approach would have been to not attempt such an integration. Instead, we could have opted for a collection of courses that together cover all the key areas in CPS.