Rigorous hybrid systems simulation of an electro-mechanical pointing system with discrete-time control

Earlier research in the modeling and simulation of hybrid systems led to the development of a general hybrid systems modeling language (HSML). Effort is underway to implement 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 handle embedded discrete-time components. In this paper we overview the algorithmic implementation of the HSML language constructs for dealing with state events and embedded discrete-time modules in MATLAB. An extensive example of an electro-mechanical pointing system with stiction under discrete-time control is presented to demonstrate the efficacy of these extensions.