A hierarchical hybrid system model and its simulation
Jie Liu, Xiaojun Liu, Tak-Kuen John Koo, Bruno Sinopoli, Shankar Sastry, Edward A. Lee · 1999
This paper presents a hierarchical hybrid system modeling and simulation framework using the Ptolemy II environment. Ptolemy II is a system-level design tool that supports the integration of multiple models of computation. The modeling of hierarchical hybrid systems is achieved by combining continuous-time models with finite state automata. Breakpoint handling, event detection and invariant monitoring techniques are studied. A hybrid helicopter control system is simulated as an example.