Optimal Observation for Cyber-physical Systems" addresses the challenge, fundamental to the design of wireless sensor networks (WSNs), presented by the obligatory trade-off between precise estimates and system constraints. A unified theoretical framework, based on the well-established theory of optimal experimental design and providing consistent solutions to problems hitherto requiring a variety of approaches, is put forward to solve a large class of optimal observation problems. The Fisher information matrix plays a key role in this framework and makes it feasible to provide analytical solutions to some complex and important questions which could not be answered in the past. Readers with an applied background in WSN implementation will find all the understanding of the key theory of optimal experimental design they need within this book. The use of multiple examples to illustrate the theoretical parts of the book brings the subject into sharper focus than would an abstract theoretical disquisition.