This book presents cybersecurity aspects of ubiquitous and growing IoT and Cyber Physical Systems. It also introduces a range of conceptual, theoretical, and foundational access control solutions. This was developed by the authors to provide an overall broader perspective and grounded approach to solve access control problems in IoT and CPS. The authors discuss different architectures, frameworks, access control models, implementation scenarios, and a broad set of use-cases in different IoT and CPS domains. This provides readers an intuitive and easy to read set of chapters. The authors also discuss IoT and CPS access control solutions provided by key industry players including Amazon Web Services (AWS) and Google Cloud Platform (GCP). It provides extensions of the authors proposed fine grained solutions with these widely used cloud and edge supported platforms. This book is designed to serve the computer science and the cybersecurity community including researchers, academicians and students. Practitioners who have a wider interest in IoT, CPS, privacy and security aspects will also find this book useful. Thanks to the holistic planning and thoughtful organization of this book, the readers are expected to gain in-depth knowledge of the state-of-the-art access control architectures and security models for resilient IoT and CPS.