engenharia de controle - material

7/25/2019 engenharia de controle - material

1/10

Theory of Modeling

and Simulation

Integrating Discrete Event

and Continuous Complex

Dynamic Systems

Second dition

BERN RD P. ZEIGLER

Electrical and Computer Engineering Department

Un iversity of Arizo na

Tucson, A rizona

HERBERT

PR EHOFER

Institute of Systems Science

Johannes Kepler University

Linz, Austria

T A G G O N K I M

Department of Electrical Engineering

Korea Advanced Insti tute of Science an d Technology

Taejon, Korea

C DEM IC PRESS

Harco urt Science and Technology Co mpa ny

San Diego San Francisco New York Boston

London Sydney Tokyo


2/10

Contents

I Preface to First Ed ition xvii

' Preface to Sec ond Edition xix

Acknowledgments xxi

Part I: Basics 1

Chapter Introduction to Systems M ode ling Concepts 3

1.1 System s Specification Fo rm alism s 3

1.1.1 Relation to Object Or ien tatio n 5

1.1.2 Evo lution of System s Fo rma lisms 6

1.1.3 Co m bining Co ntinu ou s and Discrete Form alisms 7

1.1.4 Qu an tized System s 8

1.1.5 Ex ten sio ns of DEVS 9

1.2 Levels of Sy stem Kn ow ledge 11

1.3 Intro du ction to the Hierarchy

of System s Specifications 13

1.4 Th e Specification Levels Informally Pre sen ted 14

1.4.1 Ob serv ation Fra m e 14

1.4.2 I/O Behav ior an d I/O Fu nc tion 16

1.4.3 State Tra nsitio n System Specification 17

1.4.4 Cou pled C om po ne nt System Specification 18

1.5 System Specification M orp hism s:

Basic Co ncep ts 18

1.6 Su m m ary 21

1.7 So urc es 22

Definitions, Acronym s, Abbrev iations 23

Chapter 2 Framework for Mo deling and Simulation 25

2.1 The Entities of the Fram ewo rk 25

2.1.1 So urce System 25

2.1.2 Expe rimental Fram e 27

2.1.3 M od el . 29

2.1.4 Sim ulator 30

2.2 Primary Relations Am ong Entities 30

2.2.1 M ode ling Relation: Validity 30

2.2.2 Sim ulation Relation: Sim ulator Co rrectn ess 32

2.3 Other Im po rtan t Relationships 32

2.3.1 ModelingAsValid Sim plification 32

2.3.2 Experim ental Fram e: Mo del Relationships 33

2.4 Tim e 34

2.5 Sum mary 35

2.6 Sou rces 36

V I I


3/10

VIII

CONTENTS

Chapter3 Mode l ing Formalisms and Their Simulators 37

3.1 Introdu ction 37

3.2 Discrete Time M odels an d Their Sim ulators 37

3.2.1 Discrete Time Sim ulation 39

3.2.2 Cellular A uto m ata 40

3.2.3 Cellular A uto m ato n Sim ulation Algorithms 43

3.2.4 Discrete Event A ppro ach

to Cellular Au tom aton Simu lation 44

3.2.5 Switching Au tom ata/Se que ntial M achines 45

3.2.6 Linear Discrete Tim e Ne twork s

an d Their State Behavior 47

3.3 Differential Eq uatio n M odels an d Their Sim ulators 49

3.3.1 Co ntinu ou s System Simu lation 50

3.3.2 Feed back in Co ntinu ous Systems 55

3.3.3 Ele m enta ry Linear System s 56

3.3.4 N on line ar Osc illators: Limit Cycles

an d Chao tic Behaviors 61

3.3.5 Co ntinu ous System Simu lation Languages

an d Systems 64

3.4 Discrete Event M odels an d Their Sim ulators 66

3.4.1 In trod uc tion 66

3.4.2 Disc rete Event Cellular A uto m ata 67

3.4.3 Disc rete Event W orldViews 70

3.5 Sum m ary 72

3.6 So urces 73

Chapter 4 Introdu ction to Discrete Event System Specifications (DEVS) 75

4.1 Introd uctio n 75

4.2 ClassicDEVSSystem Specification 75

4.2.1 DEVS Exam ples 77

4.2.2 ClassicDEVSW ith Ports 84

4.2.3 Classic

DEVS

Cou pled Mo dels 85

4.3 ParallelDEVSSystem Specification 89

4.3.1 Pro ces sor W ith Buffer 90

4.3.2 Parallel

DEVS

Coupled Models 91

4.4 Hierarc hical M odels 93

4.5 Object-Oriented Im plem enta tion s ofDEVS:An Introdu ction 93

4.5.1 Structural Inh eritan ce 94

4.6 Su mm ary 96

4.7 Sou rces 96

Chapter

5 Hierarchy of System Spec ifications 99

5.1 Tim e Base 99

5.2 Seg m ents an d Trajectories 100

5.2.1 Piecewise Co ntin uo us Seg m ents 102

5.2.2 Piecewise Co ns tan t Seg m ents 103

5.2.3 Even t Seg me nts 103

5.2.4 Se qu en ce s 104


4/10


5/10


6/10

CONTENTS X I

9.6 Sim ula tor for DEVS DESS 222

9.6.1 Th e DEV DESS-Simulator an d-C oo rdin ato r 223

9.6.2 Integ rating Different M odeling Fo rm alism s 226

9.7 - So urces 227

AppendixA:Th e System SpecifiedBya DEV DESS 229

Appendix

B:

Th e System Specified By a Mu ltiforma lism

System-Closure Un der C oupl ing

of Ne two rks of DEV DESS 231

Chapter 10 DEVS-Based Extended Formalisms 233

10.1 Stochastic Systems: Co nven tional Ap proach to Un certainty 233

10.2 DSDEVS (Dy nam ic Str uc ture DEVS) 235

10.2.1 DSDEVS Closure U nd er Co upling 237

10.2.2 Exam ple: Ad aptive Processing Arc hitectures 237

10.3 SymbolicDEVS 240

10.3.1 Symbolic

DEVS

Cou pled Models 241

10.3.2 E xam ple: Perfo rm anc e E valuation

of Basic A rchitectures 241

10.4 FuzzyDEVS 244

10.4.1 B asic Fu zzyDEVSFormalism 247

10.4.2 Embedding FuzzyDEVSinDEVS 250

10.4.3 Example: FuzzyDEVSM ode l for Boiler System 251

10.5 Real-TimeDEVS(RT-DEVS) 252

10.5.1 Fo rm al Specification of Real-Tim e

DEVS

Mo dels 252

10.5.2 Ex ecu tion of RT-DEVS M ode ls 253

10.5.3 Ex am ple of RT-DEVS: Elevator C on trol 254

10.5.4 Rea l-Time Sim ula tion an d RT-DEVS 257

10.6 Su m m ary 259

10.7 Sou rces 259

Chapter 11 Parallel and Distributed Discrete Event Sim ulation 261

11.1 Prob lem Ch aracte rization of Parallel

Discrete Eve nt Sim ulation 262

11.2 Co nservative Parallel D iscrete Event Sim ulation 264

11.2.1 Conservative ParallelDEVSSim ulator 268

11.3 Op timistic Parallel Discre te Event Sim ulation 273

11.3.1 Tim e-Wa rpDEVSSimulator 275

11.3.2 Riskfree OptimisticDEVSSim ulator 281

11.4 ParallelDEVSSim ulator 284

11.5 Su m m ary 287

11.6 So urce s 287

Part III System M orph isms : A bstra ction , Rep rese ntation ,

Approximat ion 293

Chapter 12 Hierarchy of System Morphisms 295

12.1 The I/O Fram e M orphism 297

12.2 The I/O Relation Observation M orph ism 297


7/10

Xii CONTENTS

12.3 The I/O Func tion M orphism 298

12.3.1 IOFO System Morp hism Im plies

IORO System M orp hism 300

12.4 The I/O System M orph ism 301

12.4.1 I /O System M orph ism Im plies IOFO

and IORO Mo rphism 302

12.4.2 Th e Lattice of Partitio ns

an d the Redu ced Version of a System 305

12.5 System M orp his m for Iteratively Specified System s 308

12.5.1 Iterative Specification M orp hism

Imp lies I/O System M orphism 309

12.5.2 Spec ialization of M orp hism s

for Iteratively Specified System s 310

12.6 The Structured System M orphism 311

12.7 M ulticom pon ent System M orph ism 314

12.8 The Netw ork of Systems M orph ism 317

12.9 Ho m om orphism and Cascade Deco mp osi t ions 320

12.10 Ch aracte rization of Realizable I/O Relations an d Fu nctio ns 324

12.10.1 C ano nica l Rea lization 326

12.11 Su m m ary 327

12.12 So urc es 327

Chapter 13 Abs traction: Constructing M od el Families 329

13.1 Sco pe/Re solution /Interaction Produ ct 329

13.1.1 Co m plexity 330

13.1.2 Size/Resolution

Trade Off:

Simplification M etho ds 332

13.1.3 How Objectives and Experimental

Fram e De term ine Abstraction Possibili ties 334

13.2 Integ rated Fam ilies of Mo dels 335

13.2.1 Inte grate d M odel Fam ily Exam ple: Spac e Travel 335

13.2.2 Spa ce Travel Base M odel ^336^

13.3 Aggregation: H om og ene ity/C ou plin g Indifference Principles 339

13.3.1 Coupling Co nditions Im pose d by Anon ymity 342

13.3.2 Constructing Lumped Models Based

on Identity-Era sing Agg regation 344

13.3.3 All-To-One Co uplin g 348

13.3.4 Exam ple of Agg regation Mode l C on struc tion:

Space Travel 349

13.3.5 Constructing Aggregations Through State

an d Block Refinem ent 351

13.3.6 Tim e Scale Rela tions 353

13.3.7 Un iversality/App licability of Ide ntity-Erasing

Aggregations 353

13.4 Ab stractions for Event-Based Co ntrol 354

13.4.1 Boundary-BasedDEVS 354

13.4.2 DEVSA bstraction: Space Travel Exam ple 357

13.5 Param eter M orphism s 358

13.5.1 Linear Systems Pa ram eter M orph ism s 359


8/10


9/10

x iv

CONTENTS

Chapter 16 DEVS Rep resentation of Systems 411

16.1 DEVS Bus Rev isited /.. 411

16.1.1 Approaches toDEVSR epresentat ion

of Co ntinuo us Systems 412

16.2 DEVS Re pres enta tion Using Co nven tional A ppro ach 414

16.2.1 DTSS Sim ulatio n of a DESS Inte gra tor 415

16.2.2 Sim ulation of Co upled S ystems byDTSS 416

16.2.3 Discretized S imu lation of Co upled DESS

w ith Arb itrarily Small Error 418

16.2.4 DEVS Representation of

DESS

via

DTSS

Sim ulation 419

16.3 Qu antization: An Alternative Ap proach

forDEVSRep resentation 419

16.3.1 Qu antized Systems 421

16.3.2 Exactly Qu antiza ble System s 422

16.3.3 Quantized Integrator: Approximation ofDESS 424

16.3.4 Coup led Systems with Qu antized Co m po nen ts 425

16.3.5 Quantized Simulation of Coupled Systems

w ith Arbitrarily Sm all Error 427

16.3.6 Qu antized Sim ulation of Co upled DESS

w ith Arbitrarily Sm all Error 429

16.3.7DEVSRep resentation of Quan tized Systems 430

16.3.8DEVSRep resentation of Qua ntized Integrato r 431

16.3.9 DEVS Sim ulation of Co upled Qu antize d Systems 432

16.3.10 Quantization-BasedDEVSSim ulation of DESS 433

16.4 Sim ulation Study of Qu antiz ation 434

16.4.1 Som e Indicative Sim ulation Results 434

16.4.2 Comparing Quantized DEVS

with Pure DTSS Sim ulation of DESS 437

16.4.3 Insight from Sec ond -Ord er Linear Oscillator 439

16.5 Co njectures for Fu rthe r Rese arch 441

16.6 Su m m ary 443

16.7 Sou rces 444

16.8 Prob lem s 445

Appendix

1

Closed Loop DTSS Sim ulation 447

Appendix2 Uniformly Segm entable Inp ut Sets 449

' - A pp end ix3 Exact Simulation byDEVS 451

Appendix4 Closed Loop Qua ntized Simulation 452

Part IV System Design and Modeling and

, Simulation Environments 455

Chapter 17 DEVS-Based Design M eth od olo gy 457

17.1 M ethodo logy Overview 457

17.2 DEVS De finition La ngu age 459

17.2.1 Atomic

DEVS

De finition 460

17.2.2 The CoupledDEVSDe finition 462

17.2.3 Exam ple: Gene rator-Buffer-Processor M odel 463


10/10

CONTENTS XV

17.3 Exe cution of

DEVS

Definition 466

17.4 Logical An alysis: M ode l Verification 468

17.4.1 Asse rtional Specification of Te m po ral Logic 468

17.4.2TLSpecification Lang uage 473

17.5 M odel Verification by Lang uage Ac cep tance Check ing 475

17.6 Perfo rma nce Evaluation 477

17.7 Im ple m en tatio n: DEVS Mo del Execu tion 477

17.8 Su m m ary 479

17.9 So urce s 479

Chapter 18 System Entity Stru ctur e/M od el Base Fram ewo rk 481

18.1 Mo del Base M an ag em en t by System Entity Structure 481

18.2 System Entity Struc ture 482 '

18.3 System Entity Stru ctu re/M od el Base (SES/MB) Fram ew ork 485

18.4 Exam ple: Design of a Tra nsa ction Proce ssing System 486

18.4.1 System Entity Stru cture 487

18.4.2 M od el Base 487

18.4.3 Prun ing an d Mo del Synthesis 487

18.4.4 Perform ance Eva luation 488

18.5 Autom atic Prun ing of anSES 490

18.6 Su m m ary 491

18.7 So urce s 492

Chapter 19 Collaboration and th e Future 495

19.1 AnArc hitecture forM S 495

19.2 How Does Collaboration Sup portM S? 497

19.2.1 M odel Co nstru ction 497

19.2.2 M odel Co m po sition 497

19.2.3 SupportingM Swith Collaboration Env ironm ents 497

19.3 Sum ma ry 499

19.4 So urce s 499

Index 501

engenharia de controle - material

Documents