Hybrid Models of Physical Systems and Discrete Controllers

Martin Otter
Institute for Robotics and Mechatronics
DLR Oberpfaffenhofen

Manuel A. Pereira Remelhe
Fachbereich Chemietechnik
Universität Dortmund

Sebastian Engell
Fachbereich Chemietechnik
Universität Dortmund

Pieter J. Mosterman
Institute for Robotics and Mechatronics
DLR Oberpfaffenhofen

Abstract

A unifying modeling method is presented that (1) extends the declarative, equation based, object oriented modeling approach by discontinuous and variable structure components which arise from abstractions in physical system models and (2) combines this with imperative, reactive, discrete event controllers based on the statechart and the sequential function chart formalisms.

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