An object-oriented model for hybrid control systems

A formal framework based on the object-oriented paradigm for hybrid control systems modelling is illustrated. One of the peculiar elements of the proposed approach is modularity, which is realised through the definition of a basic hybrid module, that can be recursively aggregated. Particular attention has been paid in the formal definition of the basic module, classifying its discrete state transitions in apparent, instantaneous and actual transitions. In addition, the composition rules for modules have been formalised, aiming at providing a consistent mathematical framework, especially for the propagation and management of events. As a test application, the control system of the impact of a robotic arm on a stiff surface is discussed.