Cyber-Physical Systems Modeling and Simulation with Modelica

Abstract

This paper introduces the area of Cyber-Physical Systems (CPS) and describes the relation to Modeli-ca and Modelica-based tools. Special aspects of CPS applications that should make Modelica well suited for their modeling and simulation are highlighted. Recent Modelica developments facilitating integrated model-based system development applicable to CPS are presented. Especially, it is shown how detailed timing simulations, involving both real-time task scheduling and network communication, are realized in Modelica. A robot example is used to demonstrate the new CPS simulation features.