Complex Reactive Control with

Design of complex controller calls for models that are both easy to grasp and mathematically sound. They should support informa- tion hiding to enhance re-use and flexibility. The combination of the syn- chronous model with object-orientation promises to provide a solution. Today controller design is a multi-disciplinary eort, involving e.g. con- trol engineers and computer scientists. The dierent views and styles of the disciplines involved should be smoothly integrated at a ne-grained level to support co-operation. The architecture of object-oriented syn- chronous models and the rationales behind it are discussed. A language supporting this style of modelling is the language sE developed by the authors.