Advances in computing, communication, control, and learning have facilitated the integration of cyber-physical systems with humans in a broad range of domains. As autonomy becomes pervasive, new theories, models, methods, and algorithms are needed to develop new paradigms for dynamic interaction and information exchange between cyber-physical and human elements. New capabilities must be developed to provide seamless integration between cyber-physical and human elements, and to create new functionalities and levels of performance beyond what is currently possible. Advanced cyber-physical human systems (CPHS), that exceed capabilities of humans or autonomy in isolation, have potential for enormous societal and economic impact. The 4th IFAC Workshop on Cyber-Physical and Human Systems aims to investigate cross-disciplinary aspects and develop new technological solutions.