Rigorous hybrid systems simulation with continuous-time discontinuities and discrete-time components

Previous research in the modeling and simulation of hybrid systems led to the development of a general hybrid systems modeling language (HSML). In more recent work, we have implemented this concept in software. The standard Matlab model framework and integration algorithms have been extended to support state-event handling in continuous-time components and to deal with embedded discrete-time components, with utmost accuracy and efficiency. In this paper we overview the algorithmic implementation of the HSML ideas and language constructs for dealing with state events and embedded discrete-time components in Matlab. A practical example (a separately-excited DC motor coupled via a gear-train to a load driven by a digital controller) is presented to demonstrate the efficacy of these extensions.