Design space exploration is the process of analyzing several functionally e
quivalent alternatives to determine the most suitable one, A fundamental qu
estion is whether an implementation is consistent with the high-level speci
fication or whether two implementations are "equivalent." The synchronous a
ssumption has made it possible to develop efficient procedures for establis
hing functional equivalence between different implementations in the domain
s of synchronous circuits and synchronous reactive systems. We extend this
notion to embedded systems that do not satisfy the synchronous assumption i
nside their boundaries but only at the interface with the environment. Leve
raging this property, we define synchronous equivalence for embedded system
s that strongly resembles the concept of functional equivalence for sequent
ial circuits. We develop efficient synchronous equivalence analysis algorit
hms for embedded system designs. The efficiency comes from analyzing the be
havior statically on abstract representations, at a cost that some of the n
egative results may be false. i.e. the analysis is conservative. We develop
primitives for making the representation more/less abstract, trading off c
omplexity of the algorithms with the conservativeness of the results. We ap
ply our analysis algorithms to an ATM switch and demonstrate that synchrono
us equivalence opens design exploration avenues uncharted before.