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Contract-based design is an approach where the design process is seen as a successive assembly of components represented in terms of assumptions about its environment and guarantees about its behavior. In the composition, if assumptions of each component are contained in guarantees offered by the others, then the composition is well formed. We focus on contract-based design and the use of Heterogeneous Rich Component models for embedded controllers where the plant, sensors and actuators are described by hybrid systems. In this work composition satisfaction requirements are defined using the assumptions-guarantees reasoning, giving rules on how to compose assumptions and promises for components in cascade, parallel and feedback configurations.