Abstract
Cyber-physical systems (CPS), robotics, the Internet of Things (IoT), and automotive systems are integral
to modern technology. They are characterized by their safety criticality, accuracy, and real-time control
requirements. Control software plays a crucial role in achieving these objectives by managing and coordinating
the operations of various sub-systems. This paper presents a novel systematic mapping study (SMS) for
control software engineering, analyzing 115 peer-reviewed papers. The study identifies, classifies, and maps
existing solutions, providing a comprehensive and structured overview for practitioners and researchers. Our
contributions include (i) a unique classification of literature into six research themes—engineering phases,
engineering approaches, engineering paradigms, engineering artefacts, target application domains, and
engineering concerns; (ii) insights into the specificity of approaches to target technologies and phases; (iii) the
prominence of model-driven approaches for design and testing; (iv) the lack of end-to-end engineering support
in existing approaches; and (v) the emerging role of agile-based methods versus the dominance of waterfallbased methods. This paper’s significance lies in its thorough analysis and the high-level mapping of the
solution space, offering new perspectives and a detailed roadmap for future research and innovation in control
software engineering. The findings will guide advancements and best practices in the field, underscoring the
paper’s impact.