Embedded systems are ubiquitous; they are all around us, doing things for us without our awareness or involvement, like applying our brakes optimally in ABS systems, adjusting our environments in HVAC systems, and landing our aircraft in fly-by-wire systems. As these examples show, one of the most important functions of most embedded systems designs is the measurement, processing, and adjustment of real-world analog data (such as temperature, pressure, or humidity); these functions are generically known as control systems. In today's systems, the processing must be made at increasing speeds yet with the utmost accuracy and lowest possible power consumption....