This textbook provides an introduction to methods for the systematic design of embedded systems. These are systems that are integrated into a technical context and are specialized for their tasks, capabilities, interfaces, and areas of application for optimality reasons, which generally requires a realization from cooperating hardware and software components. Important areas of application include automotive and consumer electronics, as well as communication and medical technology. All methods are described in a uniform notation for hardware and software, covering essential content from modeling to code generation. Due to the increasing importance of embedded systems, this book offers indispensable knowledge for students of computer science, electrical engineering, information technology, and mechatronics.