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For the features that control-intensive embedded systems software has high requirement on real-time and safety properties, based on absorbing the advantages of the existing component models, a component model for control-intensive embedded systems—CIES is presented. This model separates data flow and control flow by the introduction of input and output trigger interface. The first-in/first-out locking mechanism which used to protect the data transfer for the conflicting set interfaces preserves the atomicity of data transfer between interfaces and the component interactions order, which improve the reliability and safety of the system. Finally, we give implementation code of the example and use CIES model to compositing the electronic stability control system of a car.