The course is composed of two parts. Part 1 reviews at first the functional and non-functional properties of modern cyber-physical and embedded systems that have to be specified. Next, an overview of system level specification models is presented, with links to the specification languages. Considered models cover control dominated, data processing dominated and data storage dominated applications. They also focus on the different phases in the design flow, from functionality oriented to implementation oriented. In a hands-on section, an advanced video recorder is modeled that features dynamic task graph modification. Part 2 of the course focuses on using the specification models given in Part 1 for the architectural design of digital embedded systems. Relevant application examples will be provided.