This book constitutes the refereed proceedings of the 6th IFIP TC 10 International Embedded Systems Symposium, IESS 2019, which took place in Friedrichshafen, Germany, in September 2019. The 16 full papers and 4 short papers presented in this book were carefully reviewed and selected from 32 submissions. The papers were organized in topical sections on embedded real-time systems; estimations; architecture and applications; algorithms and System C; and analysis.