Modeling methods for dynamic behaviors of cyber-physical system

Cyber-Physical System (CPS), which is characterized as complicated embedded system by the joint dynamics among computation, communication and control, multi-scale fusion between the computation process and physical process, spatio-temporal interaction of the internally state and the physical context, and the non-determinism of the system behaviors, has made model-driven design and verification methods of CPSs become more iportant than ever, as well as posed new challenges to them. Based on inspecting a representative CPS application and analyzing the challenges of CPS modeling, a comprehensive taxonomy of CPS dynamic behavior modeling methods was developed, which consists of the integrated modeling methods aiming at describing the interaction between physical part and computing part on system level, the spatio-temporal modeling methods focusing on abstracting the relations among the semantic of behavior, time and space of the CPS, the compatibility modeling methods between function and implementation concentrating on bridging the gap between the logical design and physical implementation, and the heterogeneous interoperation modeling methods attending to hiding the semantic diverseness to support the interoperation and integration of different modeling approaches. As a result, a modeling framework for the architecture and behaviors of CPS and its implementation by CPS-ADL are provided to illustrate the integrated modeling method.