An Introduction to Equation-Based Object-Oriented Modelling and Simulation with Modelica

This tutorial presents Equation-based Object-Oriented Modelling a fast-growing area of modelling and simulation that provides a structured computer-supported way of doing modular mathematical and equation-based modelling of Cyber-Physical Systems (CPS). Modelica effectively unifies and generalizes previous object-oriented modelling languages with mathematical modelling languages. The tutorial goes ``under the hood'' of the Modelica language giving insight into the rationale behind and the foundations and techniques of equation-based modelling. Object-oriented mathematical modelling languages are positioned at one level in a stack of languages ranging from domain-specific languages (such as SimMechanics) over generic physics-aware modelling languages (such as Bond Graphs) and equation-based modelling languages (such as Modelica and Simscape) to computationally causal languages (such as Simulink) to discretized code for numerical simulation complying to the Functional Mockup Interface (FMI) standard. Extension from basic continuous-time modelling to hybrid continuous-discrete modelling is introduced.

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