I. Introduction  
II. Background  
A. Cyber-Physical Systems  
B. CPS Communications  
C. CPS Models and Aspects  
D. Security in CPS  
III. CPS Security Threats  
A. General CPS Threat Model  
B. CPS Security Threats  
IV. CPS Security Vulnerabilities  
A. Causes of Vulnerabilities  
D. Physical Vulnerabilities  
V. Real-World CPS Attacks  
A. Cyber Attacks  
B. Cyber-Physical Attacks  
C. Physical Attacks  
VI. Security Controls/Solutions  
A. General CPS Controls  
B. System-specific Controls  
C. Cyber-Physical Security Framework  
VIII. Conclusion