Declarative programming (functional, logic, rule-based, constraints, dataflow, and visual) has several advantages over imperative programming. For example, using the functional reactive programming (FRP) paradigm over the imperative programming style found in languages such as C/C++/C# for implementing embedded and real-time software allows the programmer to intuitively describe safety-critical behaviors of the system, thus lowering the chance of introducing bugs in the design phase. Its stateless nature of execution does not require the use of synchronization primitives like mutexes and semaphores, thus reducing the complexity in programming. However, accurate response time analysis of FRP-based controllers remains a largely unexplored problem. Furthermore, efficient runtime architectures and execution platforms for FRP and programs implemented in other declarative languages are nearly absent. To address these and other relevant issues for the emerging declarative programming paradigm for real-time and cyber-physical systems (for instance, two full FRP papers were recently presented at RTCSA 2015 and The First DPRTCPS Workshop recently took place in San Antonio, Texas, USA, on December 1, 2015), this timely CPSWeek 2016 workshop serves as a forum for presenting work and exchanging ideas in the programming, response time analysis, scheduling, verification, execution, and performance evaluation of embedded controllers and CPS components implemented as declarative programs. Papers (short papers 4-6 pages, full papers 8-10 pages) and posters (1-2 pages) compliant with IEEE 2-column format in the following areas are welcome. Submissions will be reviewed by at least three PC members. Open discussions and a keynote are also being planned.