Cyber-Physical Systems (CPS) lie at the intersection of sensing, computing and communication technologies. CPS are distributed control/estimation systems composed of large numbers of sensors, actuators, and computing nodes that communicate over an ad hoc wireless or wire-line network. 
The stochastic and distributed nature of the overall system  imposes a dramatic shift in the approach to modeling, analysis and design. 
In this talk we will show how Random Dynamical Systems (RDS) can be used to model the interaction between control and communication. We will revisit the estimation problem over erasure channels under this framework to fully characterize the convergence of the optimal filter.