Modeling Electromechanical Aspects of Cyber-Physical Systems

Model-based tools have the potential to significantly improve theprocess of developing novel cyber-physical systems. In this paper, weconsider the question of what language features are needed to modelcyber-physical systems. Using a small, experimental hybrid systemsmodeling language to show how a number of basic and pervasive aspectsof cyber-physical systems can be modeled clearly using the small setof constructs that it provides. We then consider two, more complex,case studies from the domain of robotics. The first one, a quadcopter,illustrates that previously proposed core language can support larger,more interesting systems. The second one, a serial robot, provides aconcrete example of why it is important to support static partialderivatives, namely, that it significantly improves the way models ofrigid body dynamics can be expressed.