Object oriented framework for dynamical systems modeling: implementation in C++

The authors present the design and implementation in Smalltalk and C++ of an object-oriented framework for dynamic, continuous-time systems simulation. The framework allows the user to define hierarchical models of dynamical systems. Using inheritance hierarchy, the user can build specific models from general ones and using the part-whole relationship the user can build models consisting of submodels. A framework for model communication using ports is also provided. Finally, the framework provides an interface to standard ODE solvers, making it possible to use currently existing libraries of such solvers