Simulation of Hybrid Systems in Omola Omsim

Hybrid systems those composed of the interaction of discrete and continuous inputs outputs states and dynamic equations are an important class of models of complex real world phenomena However the simulation tools currently available seem to be ad hoc retro tting of existing packages hastily built new languages or specialized software for particular sub classes e g piecewise constant dynamics Our goal is to produce fast high delity simulations of networks of a very broad class of hybrid systems in a user friendly environment In this paper we rst review expertise in the mathematical modeling of hybrid systems viz the hybrid dynam ical systems of Branicky HDS Also we discuss the object oriented modeling and simulation of combined discrete continuous systems using the Omola modeling language and Omsim simulation environment developed over the last eight years at Lund Leveraging these we are led to our main contribution a general set of hybrid systems model classes which encompass HDS and hence several other models popularized in the literature that combine nite automata and discrete event systems with ordinary di erential ODEs and di erential algebraic equations DAEs These Omola model classes may be viewed as templates or macros for quick and easy entering of hybrid systems for subsequent analysis and numerically sophisticated simulation using Omsim