This book to offers a hands-on guide to designing, analyzing and debugging a communication infrastructure based on the Controller Area Network (CAN) bus. Although the CAN bus standard is well established and currently used in most automotive systems, as well as avionics, medical systems and other devices, its features are not fully understood by most developers, who tend to misuse the network. This results in lost opportunities for better efficiency and performance. These authors offer a comprehensive range of architectural solutions and domains of analysis. It also provides formal models and analytical results, with thorough discussion of their applicability, so that it serves as an invaluable reference for researchers and students, as well as practicing engineers.