Characteristic for embedded systems is that they have to meet a multitude of quantitative constraints such as resource-, real-time-, or energy-consumption constraints. Model-Driven Development is a new software development technique in which the primary software artifacts are models providing a collection of views. Existing model-driven tools for real-time embedded systems are limited with respect to their treatment of quantitative constraints. This book presents methods and tools for dealing with quantitative constraints in model-driven development of embedded systems. It provides: 1. methods for modelling various quantitative aspects of embedded systems; 2. a wide range of powerful techniques and tools for analyzing such models; 3. methods for schedulability analysis, controller synthesis, and model-based testing with quantitative properties; 4. several industrial case studies demonstrating the strength of the techniques and tools.