Some related good books I have been studying the past few years or so. The Spark book is written by people who've worked on Cube sats:

  * Logical Foundations of Cyber-Physical Systems

  * Building High Integrity Applications with SPARK 

  * Analysable Real-Time Systems: Programmed in Ada

  * Control Systems Safety Evaluation and Reliability (William M. Goble)

I am developing a high-integrity controls system for a prototype hoist to be certified for overhead hoisting with the highest safety standards and targeting aerospace, construction, entertainment, and defense.