3. 8 Problems . . . 66 4 ENABLING REUSE 69 4. 1 Concepts . . . . . . . . 69 4. 2 Exploiting commonality 70 4. 3 Reusable building blocks 71 4. 4 Allowing replaceable components 75 4. 5 Other replaceable entities 79 4. 6 Limiting flexibility . . . 82 4. 7 Other considerations . . 84 4. 8 Language fundamentals 85 4. 9 Problems . . . . . . . . 88 5 FUNCTIONS 91 5. 1 Concepts . . . . . . . . 91 5. 2 Introduction to functions 92 5. 3 An interpolation function 94 5. 4 Multiple return values 96 97 5. 5 Passing records as arguments 5. 6 Using extemal subroutines 100 5. 7 Language fundamentals 102 5. 8 Problems . . . . . . . . 110 6 USING ARRAYS 113 6. 1 Concepts . . . . . . . . . . . . . . . . . . 113 6. 2 Planetary motion: Arrays of components . . 113 6. 3 Simple ID heat transfer: Arrays of variables 120 6. 4 Using arrays with chemical systems 132 6. 5 Language fundamentals 143 6. 6 Problems . . . . . . . . . . . . . . 152 7 HYBRID MODELS 155 7. 1 Concepts . . . . . . . . 155 7. 2 Modeling digital circuits 155 7. 3 Bouncing ball . . . . . . 162 7. 4 Sensor modeling . . . . 166 7. 5 Language fundamentals 178 7. 6 Problems . . . . . . . . 186 8 EXPLORING NONLINEAR BEHAVIOR 189 8. 1 Concepts . . . 189 8. 2 An ideal diode 189 8. 3 Backlash . . . 193 8. 4 Thermal properties 199 Contents vii 8. 5 Hodgkin-Huxley nerve cell models 203 8. 6 Language fundamentals 206 8. 7 Problems . . . . . . . . . . . . . . 210 9 MISCELLANEOUS 213 9. 1 Lookup rules 213 9. 2 Annotations . . 225 Part II Effective Modelica 10 MULTI-DOMAIN MODELING 231 10. 1 Concepts . . . . . . . . . 231 231 10. 2 Conveyor system . . . . .

CD-ROM contains: Version 1.4 of the Modelica specification, source code for all examples, HTML documentation for the "SimpleCar" and "Thermal" libraries, a collection of frequently asked questions, and an evaluation copy of Dymola.

Master modeling and simulation using Modelica, the new powerful, highly versatile object-based modeling language Modelica, the new object-based software/hardware modeling language that is quickly gaining popularity around the world, offers an almost universal approach to high-level computational modeling and simulation. It handles a broad range of application domains, for example mechanics, electrical systems, control, and thermodynamics, and facilitates general notation as well as powerful abstractions and efficient implementations. Using the versatile Modelica language and its associated technology, this text presents an object-oriented, component-based approach that makes it possible for readers to quickly master the basics of computer-supported equation-based object-oriented (EOO) mathematical modeling and simulation. Throughout the text, Modelica is used to illustrate the various aspects of modeling and simulation. At the same time, a number of key concepts underlying the Modelica language are explained with the use of modeling and simulation examples. This book: Examines basic concepts such as systems, models, and simulations Guides readers through the Modelica language with the aid of several step-by-step examples Introduces the Modelica class concept and its use in graphical and textual modeling Explores modeling methodology for continuous, discrete, and hybrid systems Presents an overview of the Modelica Standard Library and key Modelica model libraries Readers will find plenty of examples of models that simulate distinct application domains as well as examples that combine several domains. All the examples and exercises in the text are available via DrModelica. This electronic self-teaching program, freely available on the text's companion website, guides readers from simple, introductory examples and exercises to more advanced ones. Written by the Director of the Open Source Modelica Consortium, Introduction to Modeling and Simulation of Technical and Physical Systems with Modelica is recommended for engineers and students interested in computer-aided design, modeling, simulation, and analysis of technical and natural systems. By building on basic concepts, the text is ideal for students who want to learn modeling, simulation, and object orientation.

Provides an introduction to modern object-oriented design principles and applications for the fast-growing area of modeling and simulation Covers the topic of multi-domain system modeling and design with applications that have components from several areas Serves as a reference for the Modelica language as well as a comprehensive overview of application model libraries for a number of application domains

Fritzson covers the Modelica language in impressive depth from the basic concepts such as cyber-physical, equation-base, object-oriented, system, model, and simulation, while also incorporating over a hundred exercises and their solutions for a tutorial, easy-to-read experience. The only book with complete Modelica 3.3 coverage Over one hundred exercises and solutions Examines basic concepts such as cyber-physical, equation-based, object-oriented, system, model, and simulation

The essential introduction to the principles and applications of feedback systems—now fully revised and expanded This textbook covers the mathematics needed to model, analyze, and design feedback systems. Now more user-friendly than ever, this revised and expanded edition of Feedback Systems is a one-volume resource for students and researchers in mathematics and engineering. It has applications across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. Features a new chapter on design principles and tools, illustrating the types of problems that can be solved using feedback Includes a new chapter on fundamental limits and new material on the Routh-Hurwitz criterion and root locus plots Provides exercises at the end of every chapter Comes with an electronic solutions manual An ideal textbook for undergraduate and graduate students Indispensable for researchers seeking a self-contained resource on control theory

This open access book coherently gathers well-founded information on the fundamentals of and formalisms for modelling cyber-physical systems (CPS). Highlighting the cross-disciplinary nature of CPS modelling, it also serves as a bridge for anyone entering CPS from related areas of computer science or engineering. Truly complex, engineered systems-known as cyber-physical systems-that integrate physical, software, and network aspects are now on the rise. However, there is no unifying theory nor systematic design methods, techniques or tools for these systems. Individual (mechanical, electrical, network or software) engineering disciplines only offer partial solutions. A technique known as Multi-Paradigm Modelling has recently emerged suggesting to model every part and aspect of a system explicitly, at the most appropriate level(s) of abstraction, using the most appropriate modelling formalism(s), and then weaving the results together to form a representation of the system. If properly applied, it enables, among other global aspects, performance analysis, exhaustive simulation, and verification. This book is the first systematic attempt to bring together these formalisms for anyone starting in the field of CPS who seeks solid modelling foundations and a comprehensive introduction to the distinct existing techniques that are multi-paradigmatic. Though chiefly intended for master and post-graduate level students in computer science and engineering, it can also be used as a reference text for practitioners. This work was published by Saint Philip Street Press pursuant to a Creative Commons license permitting commercial use. All rights not granted by the work's license are retained by the author or authors.