A Hierarchical Hybrid System Model and Its Simulation

by J. Liu, X. Liu, T. J. Koo, B. Sinopoli, S.Sastry, and E. A. Lee

1999 38th IEEE conference on Decision and Control.
Dec. 1999, Phoenix, AZ
Prepublished version
Published version


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.