Cyber-physical systems are now becoming increasingly prevalent and possibly even mainstream. Infrastructures have been around as long as urban centers, supporting a society's needs for its planning, operation, and safety. As we move deeper into the 21st century, these infrastructures are becoming smart - they monitor themselves through sensor-networks, communicate through a layered architecture, and most importantly self-govern through multiple agents, resulting in a complex integration and interaction between cyber and physical components. With the basics of CPS in place, such as stability, robustness, and reliability properties at a systems level, and hybrid, switched, and event-triggered properties at a network level, we believe that the time is right to go to the next step, of the analysis and synthesis of cyber-physical systems that are present in an infrastructure. We denote such systems as Infrastructure-CPS, which form the focus of the proposed tutorial. We discuss three different foundations of Infrastructure-CPS, (i) Human Empowerment, (ii) Transactive Control, and (iii) Resilience. This will be followed by two examples, one on the nexus between power and communication infrastructure, and the other between natural gas and electricity, both of which have been investigated extensively of late, and are emerging to be apt illustrations of Infrastructure-CPS.