The new field of cyber-physical systems provides us many opportunities to trade-off between computation and control. Computing is a physical act which we need to take into account when designing a well-optimized control system. We will start with some general observations on this new field. We will then discuss joint work with Fumin Zhang, Zhenwu Shi, and Klimka Szwaykowska on hybrid models for battery-powered cyber- physical systems. Batteries have non-trivial discharge characteristics. For example, allowing a battery to rest can allow it to recover some energy reserve due to chemical reactions. We can take advantage of this during task scheduling. We will present our initial results on scheduling and battery capacity.