Cyber-physical systems (CPS) integrate physical and computational elements, resulting in behaviors influenced by both cyber and physical dynamics. The complexity of these integrated systems, with many interdependent components, entails engineering challenges and their characteristics while considering multiple perspectives. To address this challenge, the present paper proposes a multi-viewpoint modeling approach for CPS engineering based on the ISO/IEC/IEEE 42010 standard. The key viewpoints covered include structure, dynamicity, dependability and time. A SysML profile is proposed to represent these concepts and their relationships in a common semantic framework defined by the ISO/IEC/IEEE 42010 standard. The defined profile aims to support modeling CPS architectures and to analyze how well designs meet dependability and time-related requirements. Our approach is illustrated through an application on an autonomous vehicle CPS as a case study. We specify its structure and analyze its behavior using rewrite logic as a formal framework, its implementing language Real-Time Maude. The system’s dependability properties are also verified and validated using its Model-checker tool.