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Cyber-physical systems (CPS) are composed of software and hardware components. Many such systems (e.g., IoT based systems) are created by composing existing systems together. Some of these systems are of critical nature, e.g., emergency or disaster management systems. In general, component-based development (CBD) is a useful approach for constructing systems by composing pre-built and tested components. However, for critical systems, a development method must provide ways to verify the partial system at different stages of the construction process. In this paper, for system architectures, we propose two styles: rigid architecture and flexible architecture. A system architecture composed of independent components by coordinating exogenous connectors is in flexible architecture style category. For CBD of critical systems, we select EX-MAN from flexible architecture style category. Moreover, we define incremental composition mechanism for this model to construct critical systems from a set of system requirements. Incremental composition is defined to offer preservation of system behaviour and correctness of partial architecture at each incremental step. To evaluate our proposed approach, a case study of weather monitoring system (part of a disaster management) system was built using our EX-MAN tool.