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We propose a model-based framework for developing a selfadaptive embedded program, which monitors its own execution and reconfigures itself at runtime to avoid failure and improve performance. Our approach uses formal methods at different design stages to reduce the complexity of developing a self-adaptive embedded program. In our framework system requirement is rigidly encoded in temporal logics, and the original embedded system behavior is captured in a hybrid automaton-based model. Wedoi:10.1109/qsic.2006.41 dblp:conf/qsic/Tan06 fatcat:ulin4py4bjdwlai7jzsgn6e47y