Weimer, JamesSokolsky, OlegBezzo, NicolaLee, Insup2023-05-222023-05-222014-08-012015-01-06https://repository.upenn.edu/handle/20.500.14332/6851The paper studies the problem of constructing assurance cases for embedded control systems developed using a model-based approach. Assurance cases aim to provide a convincing argument that the system delivers certain guarantees, based on the evidence obtained during the design and evaluation of the system. We suggest an argument strategy centered around properties of models used in the development and properties of tools that manipulate these models. The paper presents the case study of a resilient speed estimator for an autonomous ground vehicle and takes the reader through a detailed assurance case arguing that the estimator computes speed estimates with bounded error.© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.CPS Embedded Controlassurance casecyber-physical systemsresilient control systemsComputer EngineeringComputer SciencesPresentation