My research work is part of a framework that aims to develop formal approaches to help design complex systems with a good level of safety and security. More precisely, my work consists in proposing a theoretical and practical framework allowing to ease the modelling and verification of complex distributed and embedded systems. It is well known that the complexity of systems, especially concurrent systems, reliability issues and time-to-market constraints are examples of some of the current challenges that push existing system de- sign methodologies to their limits. These systems are characterised by a large number of interacting heterogeneous entities, described through different models (hardware and software), various programming languages, and use various means of communication. Moreover, these systems are often in perpetual evolution, the entities are designed with the objective of evolving and are intended to be extensible in order to cope with unplanned or unanticipated functionalities. Their analysis requires the combination of several points of view (different levels of specification and abstraction, various formalisms, etc). Faced with the complexity of models through their size, and the variety of interaction mechanisms, the challenge is the rigorous integration of these different aspects of a system within an unified and rigorous approach. In other words, the challenge is to define a procedure for integrating several perspectives within a single model. The models used so far for the modelling and behavioural verification of systems have revealed their limitations. For instance, most formalisms are not able to ”represent” the variability or parametric aspect of a multi-entities system. The ”extensibility” (and infinite) aspect is no less difficult to model. To address these issues, we propose a theoretical framework, that can help to model and verify complex (and concurrent) systems. This framework offers an approach supporting incremental design via symbolic, compositional, hierarchical modelling, and verification.