a hierarchical hybrid strongsystem modelstrong and its simulation.pdfVIP

A Hierarchical Hybrid System Model and Its Simulation Jie Liu, Xiaojun Liu, Tak-Kuen J. Koo, Bruno Sinopoli, Shankar Sastry, and Edward A. Lee Dept. of Electrical Engineering and Computer Science University of California, Berkeley Berkeley, CA 94720, USA {liuj, liuxj, koo, sinopoli, sastry,eal}@ Abstract In the definition, ℘X is the power set of X , and TX is the tangential space of X . This paper presents a hierarchical hybrid system modeling and simulation framework using the Ptolemy II environ- We refer to (q, x ) ∈ Q × X as the (hybrid) state of H , ment. Ptolemy II is a system-level design tool that supports u ∈ U as the input of H , and y ∈ Y as the output of H . the integration of multiple models of computation. The For the sake of simplicity, we sometimes use f q (x , u ) to modeling of hierarchical hybrid systems is achieved by denote f (q, x, u ) . And we assume f q (x , u ) is globally Lips- combining continuous-time models with finite state autom- chitz continuous in its arguments. ata. Breakpoint handling, event detection and invariant The composition of two hybrid I/O automata is, roughly, to monitoring techniques are studied. A hybrid helicopter con- connect some inputs/outputs of one hybrid automaton with trol system is simulated as an