Global optimization and verification of cyber-physical systems using graphical floating point math functionality on a heterogeneous hardware system (HHS). A program includes floating point implementations of a control program (CP), model of a physical system (MPS), objective function, requirements verification program (RVP), and/or global optimizer. A simulation simulates HHS implementation of the program using co-simulation with a trusted model, including simulating behavior and timing of distributed execution of the program on the HHS, and may verify the HHS implementation using the RVP. The HHS is configured to execute the CP and MPS concurrently in a distributed manner. After deploying the program to the HHS, the HHS is configured to globally optimize (improve) the CP and MPS executing concurrently on the HHS via the global optimizer. The optimized MPS may be usable to construct the physical system. The optimized CP may be executable on the HHS to control the physical system.