Abstract
Hybrid systems combine discrete controllers with adjoining physical processes. While many approaches exist for simulating hybrid systems, there are few approaches for their emulation, especially when the actual physical plant is not available. This paper develops the first formal framework for emulation along with a new compiler that enables large-scale (1000+ components) simulation. We propose a formal model called Synchronous Emulation Automaton (SEA) specifically for modular compilation and parallel execution. SEA combines Linear Time Invariant (LTI) systems with discrete mode switches and has the following semantic differences with Hybrid Automata: ➀ the Ordinary Differential Equations are solved analytically and the solutions are sampled at the Worst-Case Reaction Time of the model and ➁ we develop a new composition semantics, which allows individual SEAs to execute in parallel with each other. The proposed semantics eliminates: ⓐ the need for dynamic numerical solvers, and ⓑ the Zeno-phenomenon by construction. Experimental results show that process models designed using our tool (Piha) give a 3.6 times execution speedup over Simulink®, and upto 26 times speedup on manycore architectures.
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