  We apply formal methods to lay and streamline theoretical foundations to
reason about Cyber-Physical Systems (CPSs) and cyber-physical attacks. We focus
on %a formal treatment of both integrity and DoS attacks to sensors and
actuators of CPSs, and on the timing aspects of these attacks. Our
contributions are threefold: (1) we define a hybrid process calculus to model
both CPSs and cyber-physical attacks; (2) we define a threat model of
cyber-physical attacks and provide the means to assess attack
tolerance/vulnerability with respect to a given attack; (3) we formalise how to
estimate the impact of a successful attack on a CPS and investigate possible
quantifications of the success chances of an attack. We illustrate definitions
and results by means of a non-trivial engineering application.
