Cyber-physical systems (CPS) are a new frontier for computational systems that transform the way people interact with engineered systems, which benefit applications in fields like transportation, aerospace, manufacturing, and health care. This course introduces students to the theoretical and practical foundations of CPS, with an emphasis on their usages in connected and automated vehicles (CAV). Upon finishing the course, students are expected to obtain the basic knowledge of CPS and CAV, and know how to develop a model-based autonomous system to be applied to the transportation system.