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Dynamical systems that are subject to abrupt changes have been a theme of increasing investigation in recent years. For instance, complex technological processes must maintain an acceptable behavior in the event of random structural perturbations, such as failures or component degradation. Aerospace engineering provides numerous examples of such situations: an aircraft has to pursue its mission even if some gyroscopes are out of order, a space shuttle has to succeed in its reentry with a failed on-board computer. Failed or degraded operating modes are parts of an embedded system history and should therefore be accounted for during the control synthesis. These few basic examples show that complex systems like embedded systems are inherently vulnerable to failure of components, and their reliability has to be improved through a control process. Complex systems require mathematical representations that are in essence dynamic, multimodel, and stochastic.