Differential equations of Costas loop

It is well known, that to effectively simulate and investigate PLL systems, nonlinear mathematical model has to be derived. This article provides mathematical model of Costas Loop circuit for wide range of signal waveforms. Investigation of Costas Loop in signal domain is reduced to nonlinear phase domain model of PLL with special phase detector characteristics. This allows to avoid a number of numerical problems in the simulation of Costas Loop in signal domain.