Continuous-Time Modelling in 20-sim

This chapter provides an introduction to continuous-time modelling of physical systems for readers whose main area of expertise is in the discrete-event modelling of computing and software. Fundamental concepts such as bond graphs and differential equations are presented together with graphical representations (block diagrams and iconic diagrams) used in the 20-sim tool. Control architectures in the form of feed forward and feedback controllers are briefly discussed, including sensors and actuators. Modern controllers are mostly implemented in computers. The sampled data controllers in the computer are coupled to the continuous-time plant by analogue-to-digital and digital-to-analogue converters. The roles of the sampling rate, the converter and arithmetic accuracy as well as event handing are briefly discussed. The need for discrete-event modelling of modern supervisory control software is identified.

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